diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0277.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0277.json new file mode 100644 index 0000000000000000000000000000000000000000..379e8fbaac0fe89ba6d8c283265a2bb727fdc91d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0277.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 26592, + "completed_passes": 277, + "snapshot": "pass_end_0277", + "candidate": true, + "snapshot_arrays_sha256": "442d2c4862bf4e3cc617d1a540b78473b3a5a604194fb786c592cf2dd2d7462a", + "score": 7.3203770133053086e-06, + "score_result": { + "score": 7.3203770133053086e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.878209215850802e-06, + 3.163636847602902e-06, + 3.3285300560237374e-06, + 3.7613681342918426e-06, + 4.2934148041240405e-06, + 4.499242550082272e-06, + 4.274504590284778e-06, + 4.1560842873877846e-06, + 4.090275979251601e-06, + 4.196712325210683e-06, + 4.56913630841882e-06, + 5.0224953156430274e-06, + 5.318649527907837e-06, + 5.519068508874625e-06, + 5.507340119947912e-06, + 5.401174348662607e-06, + 5.059400336904218e-06, + 4.680153324443381e-06, + 4.50617199021508e-06, + 4.4754724513040856e-06, + 4.442126737558283e-06, + 4.366517714515794e-06, + 4.332679964136332e-06, + 4.320904281485127e-06, + 4.30574664278538e-06, + 4.439968961378327e-06, + 4.800735496246489e-06, + 5.06336664329865e-06, + 5.101251190353651e-06, + 5.102682735014241e-06, + 5.166169103176799e-06, + 5.3014091463410296e-06, + 5.47762647329364e-06, + 5.692429112968966e-06, + 5.760362000728492e-06, + 5.881754077563528e-06, + 6.163188572827494e-06, + 6.290764304139884e-06, + 6.023797595844371e-06, + 5.687067186954664e-06, + 5.703292117686942e-06, + 5.998951110086637e-06, + 6.183066034282092e-06, + 6.362676685967017e-06, + 6.442485300794942e-06, + 6.484110599558335e-06, + 6.610594937228598e-06, + 7.071370418998413e-06, + 7.700789865339175e-06, + 8.109107511700131e-06, + 7.960563380038366e-06, + 7.683014700887725e-06, + 7.440715762641048e-06, + 7.236962574097561e-06, + 7.211919182736892e-06, + 7.254621777974535e-06, + 7.311003628274193e-06, + 7.363187705777818e-06, + 7.419154826493468e-06, + 7.532034487667261e-06, + 7.667257705179509e-06, + 7.807048859831411e-06, + 8.125658496282995e-06, + 8.575561878387816e-06, + 9.113760825130157e-06, + 9.395243978360668e-06, + 9.590205081622116e-06, + 9.778661478776485e-06, + 9.866773325484246e-06, + 9.769839380169287e-06, + 9.537065125186928e-06, + 9.461064109927975e-06, + 9.411365681444295e-06, + 9.318453521700576e-06, + 9.231316653313115e-06, + 9.577343917044345e-06, + 9.798057362786494e-06, + 9.69683242146857e-06, + 9.815575140237343e-06, + 1.0009400284616277e-05, + 1.0244682925986126e-05, + 1.0489462511031888e-05, + 1.0794831723615061e-05, + 1.1160824215039611e-05, + 1.1423522664699703e-05, + 1.1533677024999633e-05, + 1.1609049579419661e-05, + 1.16891988000134e-05, + 1.1708467354765162e-05, + 1.1723088391590863e-05, + 1.1797594197560102e-05, + 1.1875832569785416e-05, + 1.1939557225559838e-05, + 1.2020792382827494e-05, + 1.19470787467435e-05, + 1.1750836165447254e-05 + ] + ], + "episode_mean_losses": [ + 7.3203770133053086e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.878209215850802e-06, + "observation_loss": 2.878209215850802e-06, + "chamfer": 2.4417413442279212e-06, + "track": 4.3646781477946206e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.157476723776199e-05, + "observation_loss": 3.163636847602902e-06, + "chamfer": 2.6758552849059924e-06, + "track": 4.877815058534907e-07, + "acceleration": 3.8411129935411736e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3691622118349187e-05, + "observation_loss": 3.3285300560237374e-06, + "chamfer": 2.817386530296062e-06, + "track": 5.111434120408376e-07, + "acceleration": 2.03630916075781e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.032591717375908e-05, + "observation_loss": 3.7613681342918426e-06, + "chamfer": 3.171346634189831e-06, + "track": 5.900213864151738e-07, + "acceleration": 6.564549039467238e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.561315331055084e-06, + "observation_loss": 4.2934148041240405e-06, + "chamfer": 3.599963292799657e-06, + "track": 6.934515681678022e-07, + "acceleration": 2.2679005269310437e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.792267984361388e-06, + "observation_loss": 4.499242550082272e-06, + "chamfer": 3.764077519008424e-06, + "track": 7.351651447606855e-07, + "acceleration": 1.2930254342791159e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 5.041250005888287e-06, + "observation_loss": 4.274504590284778e-06, + "chamfer": 3.58160218638659e-06, + "track": 6.929022902113502e-07, + "acceleration": 7.667455861337658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.660415015678154e-06, + "observation_loss": 4.1560842873877846e-06, + "chamfer": 3.4878182759712217e-06, + "track": 6.682658977297251e-07, + "acceleration": 5.043307851337886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.54769860880333e-06, + "observation_loss": 4.090275979251601e-06, + "chamfer": 3.4371348647255218e-06, + "track": 6.53141114526079e-07, + "acceleration": 4.574226579734386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.519677531789057e-06, + "observation_loss": 4.196712325210683e-06, + "chamfer": 3.52487313648453e-06, + "track": 6.718393024129909e-07, + "acceleration": 3.229650928915362e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.69520364276832e-06, + "observation_loss": 4.56913630841882e-06, + "chamfer": 3.827555246971315e-06, + "track": 7.415808909172483e-07, + "acceleration": 1.2606733434950002e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.106553544464987e-06, + "observation_loss": 5.0224953156430274e-06, + "chamfer": 4.19075513491407e-06, + "track": 8.317400670421193e-07, + "acceleration": 8.4058321192515e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.40256587555632e-06, + "observation_loss": 5.318649527907837e-06, + "chamfer": 4.43393810201087e-06, + "track": 8.84711369053548e-07, + "acceleration": 8.391623396164505e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.619235707854386e-06, + "observation_loss": 5.519068508874625e-06, + "chamfer": 4.604264631780097e-06, + "track": 9.148036497208523e-07, + "acceleration": 1.0016717055805202e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.565297215071041e-06, + "observation_loss": 5.507340119947912e-06, + "chamfer": 4.597921360982582e-06, + "track": 9.094187589653302e-07, + "acceleration": 5.795691038201767e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.520049398910487e-06, + "observation_loss": 5.401174348662607e-06, + "chamfer": 4.511281986196991e-06, + "track": 8.89892476152454e-07, + "acceleration": 1.1887504314245234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.265653271635529e-06, + "observation_loss": 5.059400336904218e-06, + "chamfer": 4.231631010043202e-06, + "track": 8.277692700175976e-07, + "acceleration": 2.062530057855838e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.987274223822169e-06, + "observation_loss": 4.680153324443381e-06, + "chamfer": 3.918135462299688e-06, + "track": 7.620180326739501e-07, + "acceleration": 3.0712092780049716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.705476385424845e-06, + "observation_loss": 4.50617199021508e-06, + "chamfer": 3.7729148516518762e-06, + "track": 7.332572522500413e-07, + "acceleration": 1.993042388903632e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.705972514784662e-06, + "observation_loss": 4.4754724513040856e-06, + "chamfer": 3.7436318507388933e-06, + "track": 7.318406574086112e-07, + "acceleration": 2.3050009190228593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.722337962448364e-06, + "observation_loss": 4.442126737558283e-06, + "chamfer": 3.7144700399949215e-06, + "track": 7.276567544067802e-07, + "acceleration": 2.8021125331179064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.6658533392474055e-06, + "observation_loss": 4.366517714515794e-06, + "chamfer": 3.6522612845146796e-06, + "track": 7.142564300011145e-07, + "acceleration": 2.9933551104477374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.577125764626544e-06, + "observation_loss": 4.332679964136332e-06, + "chamfer": 3.6294463825470302e-06, + "track": 7.032337521195586e-07, + "acceleration": 2.4444565838166454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.56041561847087e-06, + "observation_loss": 4.320904281485127e-06, + "chamfer": 3.6168351016385714e-06, + "track": 7.040690661597182e-07, + "acceleration": 2.3951150751599926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.546008767647436e-06, + "observation_loss": 4.30574664278538e-06, + "chamfer": 3.5895625387638574e-06, + "track": 7.161841608649411e-07, + "acceleration": 2.4026198275350907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.73403724754462e-06, + "observation_loss": 4.439968961378327e-06, + "chamfer": 3.680933104988071e-06, + "track": 7.590359132336744e-07, + "acceleration": 2.9406839985313127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.212812084209872e-06, + "observation_loss": 4.800735496246489e-06, + "chamfer": 3.952248789573787e-06, + "track": 8.484867635161208e-07, + "acceleration": 4.120764458548365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.315274847816909e-06, + "observation_loss": 5.06336664329865e-06, + "chamfer": 4.154508587816963e-06, + "track": 9.088582260119438e-07, + "acceleration": 2.5190826136167743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.585408416663995e-06, + "observation_loss": 5.101251190353651e-06, + "chamfer": 4.189514584140852e-06, + "track": 9.11736833586474e-07, + "acceleration": 4.84157396840601e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.355380380933639e-06, + "observation_loss": 5.102682735014241e-06, + "chamfer": 4.198387614451349e-06, + "track": 9.04294893189217e-07, + "acceleration": 2.526975606542692e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.448876436275896e-06, + "observation_loss": 5.166169103176799e-06, + "chamfer": 4.255266048858175e-06, + "track": 9.109031111620425e-07, + "acceleration": 2.8270710572542157e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.521959792531561e-06, + "observation_loss": 5.3014091463410296e-06, + "chamfer": 4.361946594144683e-06, + "track": 9.394624385095085e-07, + "acceleration": 2.2055056092540326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.643370968755335e-06, + "observation_loss": 5.47762647329364e-06, + "chamfer": 4.5003216655459255e-06, + "track": 9.773045803740388e-07, + "acceleration": 1.6574443861827604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.8563905440678354e-06, + "observation_loss": 5.692429112968966e-06, + "chamfer": 4.656067176256329e-06, + "track": 1.0363619367126375e-06, + "acceleration": 1.639612747794672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 5.9085514294565655e-06, + "observation_loss": 5.760362000728492e-06, + "chamfer": 4.705570972873829e-06, + "track": 1.054790800480987e-06, + "acceleration": 1.4818925819781725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.0089009821240325e-06, + "observation_loss": 5.881754077563528e-06, + "chamfer": 4.784681550518144e-06, + "track": 1.0970724133585463e-06, + "acceleration": 1.271468192953762e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.237197339942213e-06, + "observation_loss": 6.163188572827494e-06, + "chamfer": 4.990141405869508e-06, + "track": 1.1730471669579856e-06, + "acceleration": 7.400865342788165e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.587678853975376e-06, + "observation_loss": 6.290764304139884e-06, + "chamfer": 5.098953806736972e-06, + "track": 1.1918103837160743e-06, + "acceleration": 2.9691449299207306e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.200241841725074e-06, + "observation_loss": 6.023797595844371e-06, + "chamfer": 4.90847924083937e-06, + "track": 1.1153183550050016e-06, + "acceleration": 1.7644445904352324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.860784767719451e-06, + "observation_loss": 5.687067186954664e-06, + "chamfer": 4.6481700337608345e-06, + "track": 1.0388972668806673e-06, + "acceleration": 1.7371773708418914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.00850989940227e-06, + "observation_loss": 5.703292117686942e-06, + "chamfer": 4.6583195398852695e-06, + "track": 1.0449728051753482e-06, + "acceleration": 3.052176964501996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.256356755329762e-06, + "observation_loss": 5.998951110086637e-06, + "chamfer": 4.873302259511547e-06, + "track": 1.1256489642619272e-06, + "acceleration": 2.574055883997062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.304966518655419e-06, + "observation_loss": 6.183066034282092e-06, + "chamfer": 4.996939878765261e-06, + "track": 1.1861261555168312e-06, + "acceleration": 1.219003564756349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.398825007636333e-06, + "observation_loss": 6.362676685967017e-06, + "chamfer": 5.127547865413362e-06, + "track": 1.2351288205536548e-06, + "acceleration": 3.614811916463623e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.530772225232795e-06, + "observation_loss": 6.442485300794942e-06, + "chamfer": 5.183851044421317e-06, + "track": 1.2586341426867875e-06, + "acceleration": 8.828684627815164e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.635366389673436e-06, + "observation_loss": 6.484110599558335e-06, + "chamfer": 5.214334123593289e-06, + "track": 1.2697765896518831e-06, + "acceleration": 1.5125566221740883e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.811188995925477e-06, + "observation_loss": 6.610594937228598e-06, + "chamfer": 5.312734174367506e-06, + "track": 1.2978605354874162e-06, + "acceleration": 2.005942718596998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.2337834353675134e-06, + "observation_loss": 7.071370418998413e-06, + "chamfer": 5.654959750245325e-06, + "track": 1.416410441379412e-06, + "acceleration": 1.6241317268850253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.832038136257324e-06, + "observation_loss": 7.700789865339175e-06, + "chamfer": 6.0962247516727075e-06, + "track": 1.6045655684138183e-06, + "acceleration": 1.3124868303293624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.391121809836477e-06, + "observation_loss": 8.109107511700131e-06, + "chamfer": 6.38582423562184e-06, + "track": 1.7232832760782912e-06, + "acceleration": 2.820142412929272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.202191565942485e-06, + "observation_loss": 7.960563380038366e-06, + "chamfer": 6.2879071265342645e-06, + "track": 1.6726561398172635e-06, + "acceleration": 2.416283280126663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.926090802357066e-06, + "observation_loss": 7.683014700887725e-06, + "chamfer": 6.100885912019294e-06, + "track": 1.5821286751815933e-06, + "acceleration": 2.430765277949831e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.5176321843173355e-06, + "observation_loss": 7.440715762641048e-06, + "chamfer": 5.923889602854615e-06, + "track": 1.5168260460995953e-06, + "acceleration": 7.691637193829592e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.290910161827924e-06, + "observation_loss": 7.236962574097561e-06, + "chamfer": 5.771085852757096e-06, + "track": 1.4658767213404644e-06, + "acceleration": 5.394747404352529e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.275869393197354e-06, + "observation_loss": 7.211919182736892e-06, + "chamfer": 5.7484271565044764e-06, + "track": 1.4634921399192535e-06, + "acceleration": 6.39503241472994e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.33795968699269e-06, + "observation_loss": 7.254621777974535e-06, + "chamfer": 5.772453278041212e-06, + "track": 1.4821684999333229e-06, + "acceleration": 8.33376887499071e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.353370619966881e-06, + "observation_loss": 7.311003628274193e-06, + "chamfer": 5.8114706007472705e-06, + "track": 1.4995329138400848e-06, + "acceleration": 4.2366966823692565e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.561709480796708e-06, + "observation_loss": 7.363187705777818e-06, + "chamfer": 5.835742285853485e-06, + "track": 1.5274455336111714e-06, + "acceleration": 1.9852167554290645e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.869652108638547e-06, + "observation_loss": 7.419154826493468e-06, + "chamfer": 5.879714535694802e-06, + "track": 1.5394405181723414e-06, + "acceleration": 4.5049702634969435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.44948590383865e-06, + "observation_loss": 7.532034487667261e-06, + "chamfer": 5.9493577282410115e-06, + "track": 1.5826766457394115e-06, + "acceleration": 9.174510751108755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 8.988149602373596e-06, + "observation_loss": 7.667257705179509e-06, + "chamfer": 6.056693564460147e-06, + "track": 1.610564368093037e-06, + "acceleration": 1.3208917835072498e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.578594133723527e-06, + "observation_loss": 7.807048859831411e-06, + "chamfer": 6.165225840959465e-06, + "track": 1.6418233599324594e-06, + "acceleration": 7.715453307355347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.442419130005874e-06, + "observation_loss": 8.125658496282995e-06, + "chamfer": 6.397497600119095e-06, + "track": 1.7281604414165486e-06, + "acceleration": 3.1676049161433184e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.819311915431172e-06, + "observation_loss": 8.575561878387816e-06, + "chamfer": 6.705231044179527e-06, + "track": 1.8703306068346137e-06, + "acceleration": 2.4375046336899686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.216923899657559e-06, + "observation_loss": 9.113760825130157e-06, + "chamfer": 7.07085609974456e-06, + "track": 2.042905180132948e-06, + "acceleration": 1.0316338716620521e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.473631507717073e-06, + "observation_loss": 9.395243978360668e-06, + "chamfer": 7.258621280925581e-06, + "track": 2.136622924808762e-06, + "acceleration": 7.83872167176014e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.846879947872367e-06, + "observation_loss": 9.590205081622116e-06, + "chamfer": 7.388852736767149e-06, + "track": 2.2013518901076168e-06, + "acceleration": 2.5667520731076365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.93556204775814e-06, + "observation_loss": 9.778661478776485e-06, + "chamfer": 7.491883479815442e-06, + "track": 2.2867775442136917e-06, + "acceleration": 1.5690088162045868e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 9.972842235583812e-06, + "observation_loss": 9.866773325484246e-06, + "chamfer": 7.5364368967711926e-06, + "track": 2.3303364287130535e-06, + "acceleration": 1.0606899536469427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0080158062919509e-05, + "observation_loss": 9.769839380169287e-06, + "chamfer": 7.472548986697802e-06, + "track": 2.297289938724134e-06, + "acceleration": 3.1031839853312704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0314571227354463e-05, + "observation_loss": 9.537065125186928e-06, + "chamfer": 7.335152076848317e-06, + "track": 2.2019130483386107e-06, + "acceleration": 7.775059884806979e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.932533430401236e-06, + "observation_loss": 9.461064109927975e-06, + "chamfer": 7.276456472027348e-06, + "track": 2.1846076379006263e-06, + "acceleration": 4.7146949100351776e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.608458640286699e-06, + "observation_loss": 9.411365681444295e-06, + "chamfer": 7.243040272442158e-06, + "track": 2.1683254090021364e-06, + "acceleration": 1.9709256093847216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.04989585452131e-05, + "observation_loss": 9.318453521700576e-06, + "chamfer": 7.178416581155034e-06, + "track": 2.140036940545542e-06, + "acceleration": 1.1805047961388482e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.409429114573868e-05, + "observation_loss": 9.231316653313115e-06, + "chamfer": 7.085591732902685e-06, + "track": 2.145724465663079e-06, + "acceleration": 4.862974492425565e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2657912520808168e-05, + "observation_loss": 9.577343917044345e-06, + "chamfer": 7.338196610362502e-06, + "track": 2.239147079308168e-06, + "acceleration": 3.080568376390147e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1337834621372167e-05, + "observation_loss": 9.798057362786494e-06, + "chamfer": 7.478111001546495e-06, + "track": 2.3199468159873504e-06, + "acceleration": 1.539777599646186e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0548295904300176e-05, + "observation_loss": 9.69683242146857e-06, + "chamfer": 7.402156825264683e-06, + "track": 2.294675141456537e-06, + "acceleration": 8.514633123013482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0295139873051085e-05, + "observation_loss": 9.815575140237343e-06, + "chamfer": 7.481890861527063e-06, + "track": 2.3336842787102796e-06, + "acceleration": 4.795642780663911e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0317191481590271e-05, + "observation_loss": 1.0009400284616277e-05, + "chamfer": 7.5898078648606315e-06, + "track": 2.419592419755645e-06, + "acceleration": 3.077910548654472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0438496246933937e-05, + "observation_loss": 1.0244682925986126e-05, + "chamfer": 7.713352715654764e-06, + "track": 2.531329755584011e-06, + "acceleration": 1.93813221471828e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0697383913793601e-05, + "observation_loss": 1.0489462511031888e-05, + "chamfer": 7.841299520805478e-06, + "track": 2.648162762852735e-06, + "acceleration": 2.0792148802684096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.089098077500239e-05, + "observation_loss": 1.0794831723615061e-05, + "chamfer": 8.036310646275524e-06, + "track": 2.758520849965862e-06, + "acceleration": 9.614947060754275e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.125157177739311e-05, + "observation_loss": 1.1160824215039611e-05, + "chamfer": 8.276775588456076e-06, + "track": 2.884049081330886e-06, + "acceleration": 9.074764761862752e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1556933714018669e-05, + "observation_loss": 1.1423522664699703e-05, + "chamfer": 8.450528184766881e-06, + "track": 2.9729947073064977e-06, + "acceleration": 1.3341114879494853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1673587323457468e-05, + "observation_loss": 1.1533677024999633e-05, + "chamfer": 8.507166057825089e-06, + "track": 3.026510967174545e-06, + "acceleration": 1.3991073899433104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.176172463601688e-05, + "observation_loss": 1.1609049579419661e-05, + "chamfer": 8.554924534109887e-06, + "track": 3.054124817936099e-06, + "acceleration": 1.526753266034575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1861731763929129e-05, + "observation_loss": 1.16891988000134e-05, + "chamfer": 8.590653123974334e-06, + "track": 3.0985459034127416e-06, + "acceleration": 1.7253294970487332e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1820171494036913e-05, + "observation_loss": 1.1708467354765162e-05, + "chamfer": 8.592388439865317e-06, + "track": 3.1160789148998447e-06, + "acceleration": 1.1170449454311893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1969498700636905e-05, + "observation_loss": 1.1723088391590863e-05, + "chamfer": 8.602749403507914e-06, + "track": 3.120338988082949e-06, + "acceleration": 2.464103658894601e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1921073564735707e-05, + "observation_loss": 1.1797594197560102e-05, + "chamfer": 8.639472980576102e-06, + "track": 3.1581209896103246e-06, + "acceleration": 1.234794098081693e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1966661986662075e-05, + "observation_loss": 1.1875832569785416e-05, + "chamfer": 8.670658644405194e-06, + "track": 3.2051734706328716e-06, + "acceleration": 9.082905449986356e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.2032975973852444e-05, + "observation_loss": 1.1939557225559838e-05, + "chamfer": 8.705380423634779e-06, + "track": 3.2341772566724103e-06, + "acceleration": 9.341848539179409e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.2102964319637977e-05, + "observation_loss": 1.2020792382827494e-05, + "chamfer": 8.748234904487617e-06, + "track": 3.2725572509662015e-06, + "acceleration": 8.2171752069371e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.2040793990308885e-05, + "observation_loss": 1.19470787467435e-05, + "chamfer": 8.70765325089451e-06, + "track": 3.239425950596342e-06, + "acceleration": 9.371489539944378e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1820345207524952e-05, + "observation_loss": 1.1750836165447254e-05, + "chamfer": 8.591407095082104e-06, + "track": 3.159429297738825e-06, + "acceleration": 6.950920550252704e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.371556101375669e-06, + "chamfer_mean": 5.733210315383985e-06, + "track_mean": 1.5871666783813982e-06, + "acceleration_mean": 1.0511790685304352e-06, + "observation_score": 7.3203770133053086e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4297668420003902 + }, + "score_arrays_file": "pass_scores/pass_end_0277.npz", + "score_arrays_sha256": "7ce4aa3efcc03366ec219e78499d2fd62af58d76de50270f50224ef7bb2a917f" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0278.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0278.json new file mode 100644 index 0000000000000000000000000000000000000000..632c385eb2e9760afd0976e079e4235edaba64c6 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0278.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 26688, + "completed_passes": 278, + "snapshot": "pass_end_0278", + "candidate": true, + "snapshot_arrays_sha256": "2ca56423c7b8df16803a415065c9e989428bd9304f549e627b7d5756add9b985", + "score": 7.316406441285987e-06, + "score_result": { + "score": 7.316406441285987e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.877825863834005e-06, + 3.163388100801967e-06, + 3.3267976959905354e-06, + 3.759688297577668e-06, + 4.291262484912295e-06, + 4.497308054851601e-06, + 4.2716019379440695e-06, + 4.1523353502270766e-06, + 4.086966328031849e-06, + 4.193633230897831e-06, + 4.566281859297305e-06, + 5.020057869842276e-06, + 5.3170219871390145e-06, + 5.517663339560386e-06, + 5.506150046130642e-06, + 5.400115242082393e-06, + 5.057644102635095e-06, + 4.678102413890883e-06, + 4.503312084125355e-06, + 4.4732055357599165e-06, + 4.439808435563464e-06, + 4.363670086604543e-06, + 4.329881448938977e-06, + 4.318199444242055e-06, + 4.303838068153709e-06, + 4.43711860498297e-06, + 4.798470854439074e-06, + 5.0617550186871085e-06, + 5.098506790091051e-06, + 5.096635049994802e-06, + 5.161136868991889e-06, + 5.29771068613627e-06, + 5.475851139635779e-06, + 5.692830200132448e-06, + 5.76360343984561e-06, + 5.882884124730481e-06, + 6.162052613944979e-06, + 6.2871140471543185e-06, + 6.019163720338838e-06, + 5.682746632373892e-06, + 5.698534550901968e-06, + 5.993410013616085e-06, + 6.178332569106715e-06, + 6.358744485623902e-06, + 6.438786385842832e-06, + 6.480740466940915e-06, + 6.6082875491702e-06, + 7.070447736623464e-06, + 7.701144568272866e-06, + 8.109085683827288e-06, + 7.960153197927866e-06, + 7.683728654228617e-06, + 7.441795787599403e-06, + 7.237346380861709e-06, + 7.2115940383810084e-06, + 7.25346490071388e-06, + 7.309871762117837e-06, + 7.362390533671714e-06, + 7.418885616061743e-06, + 7.531928076787153e-06, + 7.667642421438359e-06, + 7.807979272911325e-06, + 8.128925401251763e-06, + 8.581389010942075e-06, + 9.121528819378e-06, + 9.404895536135882e-06, + 9.600998055248056e-06, + 9.790885087568313e-06, + 9.879850949801039e-06, + 9.783134373719804e-06, + 9.549199603497982e-06, + 9.472314559388906e-06, + 9.422118637303356e-06, + 9.318935553892516e-06, + 9.231342119164765e-06, + 9.571826012688689e-06, + 9.792991477297619e-06, + 9.689921171229798e-06, + 9.808518370846286e-06, + 9.999009307648521e-06, + 1.022842843667604e-05, + 1.0470305824128445e-05, + 1.0773568646982312e-05, + 1.113777489081258e-05, + 1.139932828664314e-05, + 1.1508783245517407e-05, + 1.1585427273530513e-05, + 1.1665239071589895e-05, + 1.1684907804010436e-05, + 1.1699805327225477e-05, + 1.1773840014939196e-05, + 1.1852233001263812e-05, + 1.1914756214537192e-05, + 1.2000669812550768e-05, + 1.193583375425078e-05, + 1.1738698958652094e-05 + ] + ], + "episode_mean_losses": [ + 7.316406441285987e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.877825863834005e-06, + "observation_loss": 2.877825863834005e-06, + "chamfer": 2.441410288156476e-06, + "track": 4.3641554725581955e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1574196075089276e-05, + "observation_loss": 3.163388100801967e-06, + "chamfer": 2.6756383704196196e-06, + "track": 4.877497303823475e-07, + "acceleration": 3.8410806155297905e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3678343495703302e-05, + "observation_loss": 3.3267976959905354e-06, + "chamfer": 2.8159442990727257e-06, + "track": 5.108534537612286e-07, + "acceleration": 2.0351546481833793e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0320996807422489e-05, + "observation_loss": 3.759688297577668e-06, + "chamfer": 3.1699494229542324e-06, + "track": 5.897388746234355e-07, + "acceleration": 6.561308964592172e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.539533842442324e-06, + "observation_loss": 4.291262484912295e-06, + "chamfer": 3.5981927339889808e-06, + "track": 6.930699782969896e-07, + "acceleration": 2.2482713575300295e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.784110726381186e-06, + "observation_loss": 4.497308054851601e-06, + "chamfer": 3.7624745345965493e-06, + "track": 7.34833349724795e-07, + "acceleration": 1.2868025578427478e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 5.033808520238381e-06, + "observation_loss": 4.2716019379440695e-06, + "chamfer": 3.5791908885585144e-06, + "track": 6.924109925421362e-07, + "acceleration": 7.62206752824568e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6559880502172746e-06, + "observation_loss": 4.1523353502270766e-06, + "chamfer": 3.4847059851017548e-06, + "track": 6.676291377516463e-07, + "acceleration": 5.036525863033603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.543484919850016e-06, + "observation_loss": 4.086966328031849e-06, + "chamfer": 3.434399104662589e-06, + "track": 6.525671096824226e-07, + "acceleration": 4.565184212879103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.514394731813809e-06, + "observation_loss": 4.193633230897831e-06, + "chamfer": 3.5223081340518547e-06, + "track": 6.713252105328138e-07, + "acceleration": 3.2076135880743095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.692160018748837e-06, + "observation_loss": 4.566281859297305e-06, + "chamfer": 3.825176008831477e-06, + "track": 7.411060209960851e-07, + "acceleration": 1.2587794628871052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.10425707034301e-06, + "observation_loss": 5.020057869842276e-06, + "chamfer": 4.188731509202626e-06, + "track": 8.313263606396504e-07, + "acceleration": 8.419932129299923e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.400837835622951e-06, + "observation_loss": 5.3170219871390145e-06, + "chamfer": 4.4325838643999305e-06, + "track": 8.844381227390841e-07, + "acceleration": 8.381586269479158e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.618007435259642e-06, + "observation_loss": 5.517663339560386e-06, + "chamfer": 4.60310138805653e-06, + "track": 9.145621220341127e-07, + "acceleration": 1.0034397490699121e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.564048478845507e-06, + "observation_loss": 5.506150046130642e-06, + "chamfer": 4.596953203872545e-06, + "track": 9.091967285712599e-07, + "acceleration": 5.7898244421039635e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.518760190170724e-06, + "observation_loss": 5.400115242082393e-06, + "chamfer": 4.510432518145535e-06, + "track": 8.896825534066011e-07, + "acceleration": 1.1864489835033964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.263723778625717e-06, + "observation_loss": 5.057644102635095e-06, + "chamfer": 4.2301867324567866e-06, + "track": 8.274574270217272e-07, + "acceleration": 2.0607971862318664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.984865427104523e-06, + "observation_loss": 4.678102413890883e-06, + "chamfer": 3.916447894880548e-06, + "track": 7.616546895405918e-07, + "acceleration": 3.0676287110509293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.701468242274132e-06, + "observation_loss": 4.503312084125355e-06, + "chamfer": 3.770548346437863e-06, + "track": 7.327636240006541e-07, + "acceleration": 1.98155944985956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.701608304458205e-06, + "observation_loss": 4.4732055357599165e-06, + "chamfer": 3.7417446492327144e-06, + "track": 7.31460943370621e-07, + "acceleration": 2.284027544874334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.7185512812575325e-06, + "observation_loss": 4.439808435563464e-06, + "chamfer": 3.7125330436538206e-06, + "track": 7.272753919096431e-07, + "acceleration": 2.787429025374877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.661686489271233e-06, + "observation_loss": 4.363670086604543e-06, + "chamfer": 3.649907966973842e-06, + "track": 7.13762062787282e-07, + "acceleration": 2.980164595101087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.574183094518958e-06, + "observation_loss": 4.329881448938977e-06, + "chamfer": 3.627139449235983e-06, + "track": 7.027420565464126e-07, + "acceleration": 2.4430153189314296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.559191438602284e-06, + "observation_loss": 4.318199444242055e-06, + "chamfer": 3.614624347392237e-06, + "track": 7.035750968498178e-07, + "acceleration": 2.409919090951007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.551108304440277e-06, + "observation_loss": 4.303838068153709e-06, + "chamfer": 3.5879645565728424e-06, + "track": 7.158735684242856e-07, + "acceleration": 2.4727043523853354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.7300668484240305e-06, + "observation_loss": 4.43711860498297e-06, + "chamfer": 3.6785838801733917e-06, + "track": 7.58534554279322e-07, + "acceleration": 2.9294821501935076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.207409685681341e-06, + "observation_loss": 4.798470854439074e-06, + "chamfer": 3.950353857362643e-06, + "track": 8.481169970764313e-07, + "acceleration": 4.0893863229030103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.316088390827645e-06, + "observation_loss": 5.0617550186871085e-06, + "chamfer": 4.153126155870268e-06, + "track": 9.086286922865838e-07, + "acceleration": 2.543333721405361e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.577332558459602e-06, + "observation_loss": 5.098506790091051e-06, + "chamfer": 4.187284048384754e-06, + "track": 9.112226848628779e-07, + "acceleration": 4.788255409948761e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.346604211808881e-06, + "observation_loss": 5.096635049994802e-06, + "chamfer": 4.19368916482199e-06, + "track": 9.029458283293934e-07, + "acceleration": 2.499691618140787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.447501280286815e-06, + "observation_loss": 5.161136868991889e-06, + "chamfer": 4.2514234337431844e-06, + "track": 9.097134920921235e-07, + "acceleration": 2.8636441129492596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.5270006669161376e-06, + "observation_loss": 5.29771068613627e-06, + "chamfer": 4.359239937912207e-06, + "track": 9.384709187543194e-07, + "acceleration": 2.2929010867756006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.651373157888884e-06, + "observation_loss": 5.475851139635779e-06, + "chamfer": 4.499185706663411e-06, + "track": 9.766654329723679e-07, + "acceleration": 1.7552218878336134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.8648111007642e-06, + "observation_loss": 5.692830200132448e-06, + "chamfer": 4.656710189010482e-06, + "track": 1.0361197837482905e-06, + "acceleration": 1.719808295774783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 5.913933819101658e-06, + "observation_loss": 5.76360343984561e-06, + "chamfer": 4.708314463641727e-06, + "track": 1.0552888625170453e-06, + "acceleration": 1.5033023714750016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.007219781167805e-06, + "observation_loss": 5.882884124730481e-06, + "chamfer": 4.785636065207655e-06, + "track": 1.097248173209664e-06, + "acceleration": 1.2433574170245265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.239621598069789e-06, + "observation_loss": 6.162052613944979e-06, + "chamfer": 4.989227818441577e-06, + "track": 1.1728249091902399e-06, + "acceleration": 7.756887754339914e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.582975402125157e-06, + "observation_loss": 6.2871140471543185e-06, + "chamfer": 5.096022505313158e-06, + "track": 1.1910915418411605e-06, + "acceleration": 2.9586112759716343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.196927188284462e-06, + "observation_loss": 6.019163720338838e-06, + "chamfer": 4.904772140434943e-06, + "track": 1.114391579903895e-06, + "acceleration": 1.7776341110220528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8563700804370455e-06, + "observation_loss": 5.682746632373892e-06, + "chamfer": 4.644707132683834e-06, + "track": 1.03803938600322e-06, + "acceleration": 1.7362343385229906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.0023949117749e-06, + "observation_loss": 5.698534550901968e-06, + "chamfer": 4.654498752643121e-06, + "track": 1.0440355708851712e-06, + "acceleration": 3.0386033245122235e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.25100028628367e-06, + "observation_loss": 5.993410013616085e-06, + "chamfer": 4.868908945354633e-06, + "track": 1.1245012956351275e-06, + "acceleration": 2.5759030108929437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.301146640907973e-06, + "observation_loss": 6.178332569106715e-06, + "chamfer": 4.99318457514164e-06, + "track": 1.1851481076519121e-06, + "acceleration": 1.228142991749337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.394484444172122e-06, + "observation_loss": 6.358744485623902e-06, + "chamfer": 5.124412382429e-06, + "track": 1.2343322168817394e-06, + "acceleration": 3.5739923021083086e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.5268964135611895e-06, + "observation_loss": 6.438786385842832e-06, + "chamfer": 5.180932021175977e-06, + "track": 1.257854364666855e-06, + "acceleration": 8.810989271523795e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.632349595747655e-06, + "observation_loss": 6.480740466940915e-06, + "chamfer": 5.211664756643586e-06, + "track": 1.2690755966104916e-06, + "acceleration": 1.516089866981929e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.808483703935053e-06, + "observation_loss": 6.6082875491702e-06, + "chamfer": 5.310939286573557e-06, + "track": 1.2973480352229672e-06, + "acceleration": 2.0019629687340057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.232774805743247e-06, + "observation_loss": 7.070447736623464e-06, + "chamfer": 5.654252618114697e-06, + "track": 1.416195232195605e-06, + "acceleration": 1.623268559569624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.83298492024187e-06, + "observation_loss": 7.701144568272866e-06, + "chamfer": 6.096419383538887e-06, + "track": 1.6047247299866285e-06, + "acceleration": 1.318398972216528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.391814844799228e-06, + "observation_loss": 8.109085683827288e-06, + "chamfer": 6.385778760886751e-06, + "track": 1.7233064681931864e-06, + "acceleration": 2.827292178153584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.203188372135628e-06, + "observation_loss": 7.960153197927866e-06, + "chamfer": 6.287638370849891e-06, + "track": 1.6725149407648132e-06, + "acceleration": 2.4303534473801847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.927325896162074e-06, + "observation_loss": 7.683728654228617e-06, + "chamfer": 6.101444341766182e-06, + "track": 1.5822841987755965e-06, + "acceleration": 2.4359752615055186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.518894562963396e-06, + "observation_loss": 7.441795787599403e-06, + "chamfer": 5.924689503444824e-06, + "track": 1.5171061704677413e-06, + "acceleration": 7.70986403608731e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.291537258424796e-06, + "observation_loss": 7.237346380861709e-06, + "chamfer": 5.7713814385351725e-06, + "track": 1.4659650560133741e-06, + "acceleration": 5.4190980591783955e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.275688403751701e-06, + "observation_loss": 7.2115940383810084e-06, + "chamfer": 5.748168860009173e-06, + "track": 1.4634251783718355e-06, + "acceleration": 6.409415220787196e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.336891030718107e-06, + "observation_loss": 7.25346490071388e-06, + "chamfer": 5.7715337788977195e-06, + "track": 1.4819308944424847e-06, + "acceleration": 8.342622948021017e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.352799912041519e-06, + "observation_loss": 7.309871762117837e-06, + "chamfer": 5.810552920593182e-06, + "track": 1.4993189552114927e-06, + "acceleration": 4.292807886940864e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.561412530776579e-06, + "observation_loss": 7.362390533671714e-06, + "chamfer": 5.8350419749331195e-06, + "track": 1.5273485587385949e-06, + "acceleration": 1.9902198289400985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.87101816968061e-06, + "observation_loss": 7.418885616061743e-06, + "chamfer": 5.879437594558112e-06, + "track": 1.5394477941299556e-06, + "acceleration": 4.5213283783596125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.453548616671469e-06, + "observation_loss": 7.531928076787153e-06, + "chamfer": 5.949176284048008e-06, + "track": 1.5827517927391455e-06, + "acceleration": 9.21620880944829e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 8.99444603419397e-06, + "observation_loss": 7.667642421438359e-06, + "chamfer": 6.0568886510736775e-06, + "track": 1.6107542251120321e-06, + "acceleration": 1.3268040675029624e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.583086128055584e-06, + "observation_loss": 7.807979272911325e-06, + "chamfer": 6.165737431729212e-06, + "track": 1.6422413864347618e-06, + "acceleration": 7.751071962047718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.448140761174727e-06, + "observation_loss": 8.128925401251763e-06, + "chamfer": 6.399781796062598e-06, + "track": 1.7291433778154897e-06, + "acceleration": 3.192153315012547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.826932571537327e-06, + "observation_loss": 8.581389010942075e-06, + "chamfer": 6.709448825858999e-06, + "track": 1.871939957709401e-06, + "acceleration": 2.4554321953473845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.225677786162123e-06, + "observation_loss": 9.121528819378e-06, + "chamfer": 7.076393103488954e-06, + "track": 2.045135715889046e-06, + "acceleration": 1.0414858309104602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.484017027716618e-06, + "observation_loss": 9.404895536135882e-06, + "chamfer": 7.265498425113037e-06, + "track": 2.139397565770196e-06, + "acceleration": 7.912157684586418e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.858527846517973e-06, + "observation_loss": 9.600998055248056e-06, + "chamfer": 7.396607998089166e-06, + "track": 2.2043902845325647e-06, + "acceleration": 2.5752990495675476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.948532351700123e-06, + "observation_loss": 9.790885087568313e-06, + "chamfer": 7.500750143663026e-06, + "track": 2.2901344891579356e-06, + "acceleration": 1.5764692307129735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 9.986541954276618e-06, + "observation_loss": 9.879850949801039e-06, + "chamfer": 7.545921107521281e-06, + "track": 2.3339300696534337e-06, + "acceleration": 1.0669112526784374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0094585377373733e-05, + "observation_loss": 9.783134373719804e-06, + "chamfer": 7.482322871510405e-06, + "track": 2.300811047462048e-06, + "acceleration": 3.1145128787102294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0328934877179563e-05, + "observation_loss": 9.549199603497982e-06, + "chamfer": 7.343985998886637e-06, + "track": 2.205213377237669e-06, + "acceleration": 7.797353305249999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.943894838215783e-06, + "observation_loss": 9.472314559388906e-06, + "chamfer": 7.284621915459866e-06, + "track": 2.18769264392904e-06, + "acceleration": 4.715801367183303e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.619853699405212e-06, + "observation_loss": 9.422118637303356e-06, + "chamfer": 7.25081281416351e-06, + "track": 2.1713058231398463e-06, + "acceleration": 1.9773530368638603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.0515798749111127e-05, + "observation_loss": 9.318935553892516e-06, + "chamfer": 7.179622116382234e-06, + "track": 2.139312982762931e-06, + "acceleration": 1.1968631952186115e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.4073411875870079e-05, + "observation_loss": 9.231342119164765e-06, + "chamfer": 7.087230187607929e-06, + "track": 2.1441123863041867e-06, + "acceleration": 4.842070211452665e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2715128832496703e-05, + "observation_loss": 9.571826012688689e-06, + "chamfer": 7.334582278417656e-06, + "track": 2.237243279523682e-06, + "acceleration": 3.143303047181689e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1464013368822634e-05, + "observation_loss": 9.792991477297619e-06, + "chamfer": 7.4748031693161465e-06, + "track": 2.3181887627288233e-06, + "acceleration": 1.6710217778381775e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0569256119197235e-05, + "observation_loss": 9.689921171229798e-06, + "chamfer": 7.397794433927629e-06, + "track": 2.2921269646758446e-06, + "acceleration": 8.79335402714787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0287529221386649e-05, + "observation_loss": 9.808518370846286e-06, + "chamfer": 7.476854534615995e-06, + "track": 2.3316640636039665e-06, + "acceleration": 4.790110210706189e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0282089533575345e-05, + "observation_loss": 9.999009307648521e-06, + "chamfer": 7.583495971630327e-06, + "track": 2.4155133360181935e-06, + "acceleration": 2.830805101439182e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.040673851093743e-05, + "observation_loss": 1.022842843667604e-05, + "chamfer": 7.703483788645826e-06, + "track": 2.5249448754038895e-06, + "acceleration": 1.7831014531566325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0680732884793542e-05, + "observation_loss": 1.0470305824128445e-05, + "chamfer": 7.830017239029985e-06, + "track": 2.6402888124721358e-06, + "acceleration": 2.104267053937292e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0876095075218473e-05, + "observation_loss": 1.0773568646982312e-05, + "chamfer": 8.023554983083159e-06, + "track": 2.7500141186465044e-06, + "acceleration": 1.0252612270278405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1235252713959198e-05, + "observation_loss": 1.113777489081258e-05, + "chamfer": 8.263242307293694e-06, + "track": 2.8745323561452096e-06, + "acceleration": 9.7478242366833e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1545414054126013e-05, + "observation_loss": 1.139932828664314e-05, + "chamfer": 8.436064490524586e-06, + "track": 2.9632635687448783e-06, + "acceleration": 1.460860801216768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1658960829663556e-05, + "observation_loss": 1.1508783245517407e-05, + "chamfer": 8.49247498990735e-06, + "track": 3.0163084829837317e-06, + "acceleration": 1.5017727150734572e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1741248272301164e-05, + "observation_loss": 1.1585427273530513e-05, + "chamfer": 8.540959242964163e-06, + "track": 3.0444684853137005e-06, + "acceleration": 1.5582133983116364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1840246770589147e-05, + "observation_loss": 1.1665239071589895e-05, + "chamfer": 8.57662053022068e-06, + "track": 3.0886180866218638e-06, + "acceleration": 1.750077274209616e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1801370419561863e-05, + "observation_loss": 1.1684907804010436e-05, + "chamfer": 8.578491360822227e-06, + "track": 3.106415988440858e-06, + "acceleration": 1.1646243081031571e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.195453205582453e-05, + "observation_loss": 1.1699805327225477e-05, + "chamfer": 8.589401659264695e-06, + "track": 3.1104036679607816e-06, + "acceleration": 2.5472681386418117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1902990081580356e-05, + "observation_loss": 1.1773840014939196e-05, + "chamfer": 8.625877853774e-06, + "track": 3.1479617064178456e-06, + "acceleration": 1.2914999558688578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1944031939492561e-05, + "observation_loss": 1.1852233001263812e-05, + "chamfer": 8.65747279021889e-06, + "track": 3.194759983671247e-06, + "acceleration": 9.179937165981755e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.2008246812911239e-05, + "observation_loss": 1.1914756214537192e-05, + "chamfer": 8.691308721608948e-06, + "track": 3.2234472655545687e-06, + "acceleration": 9.349066942831996e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.2082628018106334e-05, + "observation_loss": 1.2000669812550768e-05, + "chamfer": 8.736067684367299e-06, + "track": 3.26460258293082e-06, + "acceleration": 8.195799949817228e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.2033544408041053e-05, + "observation_loss": 1.193583375425078e-05, + "chamfer": 8.70083567861002e-06, + "track": 3.2349985303881112e-06, + "acceleration": 9.771061826313598e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1809803254436702e-05, + "observation_loss": 1.1738698958652094e-05, + "chamfer": 8.584273018641397e-06, + "track": 3.154426167384372e-06, + "acceleration": 7.110439526059054e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.370221318424834e-06, + "chamfer_mean": 5.730770025043815e-06, + "track_mean": 1.5856364017352576e-06, + "acceleration_mean": 1.0538148795813385e-06, + "observation_score": 7.316406441285987e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4302916070009815 + }, + "score_arrays_file": "pass_scores/pass_end_0278.npz", + "score_arrays_sha256": "1a84ecfc167e5b4303639904c8d9d670d215ce699041494f5c17631cab172827" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0279.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0279.json new file mode 100644 index 0000000000000000000000000000000000000000..172c1d86437ac0f5eeba2235c3a408b8ade41762 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0279.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 26784, + "completed_passes": 279, + "snapshot": "pass_end_0279", + "candidate": true, + "snapshot_arrays_sha256": "a7587808b5136cebaf7403a401a1779c7f768afe254c82d85744ee62be71b9ec", + "score": 7.313309545509128e-06, + "score_result": { + "score": 7.313309545509128e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8774584279744886e-06, + 3.1630538614990655e-06, + 3.324862063891487e-06, + 3.757787681024638e-06, + 4.288964191800915e-06, + 4.495128905546153e-06, + 4.268728389433818e-06, + 4.1484104258415755e-06, + 4.083811290911399e-06, + 4.190475920040626e-06, + 4.5632450564880855e-06, + 5.017278454033658e-06, + 5.314964255376253e-06, + 5.515923476195894e-06, + 5.504694399860455e-06, + 5.398506800702307e-06, + 5.05551770402235e-06, + 4.675932359532453e-06, + 4.500423074205173e-06, + 4.470983640203485e-06, + 4.437307779880939e-06, + 4.360940238257172e-06, + 4.327535862103105e-06, + 4.315990736358799e-06, + 4.302404249756364e-06, + 4.4349148993205745e-06, + 4.797048404725501e-06, + 5.061609954282176e-06, + 5.096759650768945e-06, + 5.091773800813826e-06, + 5.157523446541745e-06, + 5.295119080983568e-06, + 5.475924353959272e-06, + 5.695553682016907e-06, + 5.769300059910165e-06, + 5.886869075766299e-06, + 6.163063517306e-06, + 6.284792107180692e-06, + 6.015714461682364e-06, + 5.679115474777063e-06, + 5.694344054063549e-06, + 5.988114935462363e-06, + 6.173326710268157e-06, + 6.354076049319701e-06, + 6.434110218833666e-06, + 6.476211638073437e-06, + 6.604525424336316e-06, + 7.067323167575523e-06, + 7.698536137468182e-06, + 8.106219866022002e-06, + 7.957469279062934e-06, + 7.681618626520503e-06, + 7.440351055265637e-06, + 7.2364550760539714e-06, + 7.210194780782331e-06, + 7.25183872418711e-06, + 7.308699423447251e-06, + 7.362016276601935e-06, + 7.4193258114974014e-06, + 7.533139068982564e-06, + 7.669566002732608e-06, + 7.81116250436753e-06, + 8.13344831840368e-06, + 8.587877346144523e-06, + 9.129522368311882e-06, + 9.41423604672309e-06, + 9.611569112166762e-06, + 9.802445674722549e-06, + 9.892616617435124e-06, + 9.796609447221272e-06, + 9.562001650920138e-06, + 9.484863767283969e-06, + 9.433568266103975e-06, + 9.321344805357512e-06, + 9.234741810359992e-06, + 9.569319445290603e-06, + 9.7925712907454e-06, + 9.686912562756334e-06, + 9.806281013879925e-06, + 9.99394069367554e-06, + 1.0218066563538741e-05, + 1.0455625670147128e-05, + 1.0756712072179653e-05, + 1.1118817383248825e-05, + 1.1379795978427865e-05, + 1.1487451047287323e-05, + 1.1565672139113303e-05, + 1.164425066235708e-05, + 1.1664479643513914e-05, + 1.1678741429932415e-05, + 1.1752487807825673e-05, + 1.183118365588598e-05, + 1.189279373647878e-05, + 1.1981068382738158e-05, + 1.1923725651286077e-05, + 1.1728938261512667e-05 + ] + ], + "episode_mean_losses": [ + 7.313309545509128e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8774584279744886e-06, + "observation_loss": 2.8774584279744886e-06, + "chamfer": 2.4410940113739343e-06, + "track": 4.3636433133542596e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.156661088927649e-05, + "observation_loss": 3.1630538614990655e-06, + "chamfer": 2.6753516522148857e-06, + "track": 4.877020955973421e-07, + "acceleration": 3.840355566353537e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.36549494729843e-05, + "observation_loss": 3.324862063891487e-06, + "chamfer": 2.814333129208535e-06, + "track": 5.105288778395334e-07, + "acceleration": 2.0330087863840163e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0311713595001493e-05, + "observation_loss": 3.757787681024638e-06, + "chamfer": 3.168373723383411e-06, + "track": 5.894139576412272e-07, + "acceleration": 6.553925686603179e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.517816018458689e-06, + "observation_loss": 4.288964191800915e-06, + "chamfer": 3.5963105347036617e-06, + "track": 6.926538844709285e-07, + "acceleration": 2.228851826657774e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.774975761596579e-06, + "observation_loss": 4.495128905546153e-06, + "chamfer": 3.760683057407732e-06, + "track": 7.344457344515831e-07, + "acceleration": 1.2798468560504261e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 5.025824520998867e-06, + "observation_loss": 4.268728389433818e-06, + "chamfer": 3.57681346940808e-06, + "track": 6.91914920025738e-07, + "acceleration": 7.570963020953059e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6512059270753525e-06, + "observation_loss": 4.1484104258415755e-06, + "chamfer": 3.4814638638636097e-06, + "track": 6.669466756648035e-07, + "acceleration": 5.027952738601016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.539723704510834e-06, + "observation_loss": 4.083811290911399e-06, + "chamfer": 3.431802497289027e-06, + "track": 6.520087367789529e-07, + "acceleration": 4.559125557079824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.5096940084476955e-06, + "observation_loss": 4.190475920040626e-06, + "chamfer": 3.519683332342538e-06, + "track": 6.707924171678314e-07, + "acceleration": 3.192183157807449e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.68929920316441e-06, + "observation_loss": 4.5632450564880855e-06, + "chamfer": 3.822655799012864e-06, + "track": 7.405891437883838e-07, + "acceleration": 1.2605408983290545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.101626811665483e-06, + "observation_loss": 5.017278454033658e-06, + "chamfer": 4.18644594901707e-06, + "track": 8.308326755468443e-07, + "acceleration": 8.434827236669662e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3991911954653915e-06, + "observation_loss": 5.314964255376253e-06, + "chamfer": 4.430887656781124e-06, + "track": 8.840766554385482e-07, + "acceleration": 8.422716035738631e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.6163034969358705e-06, + "observation_loss": 5.515923476195894e-06, + "chamfer": 4.601682121574413e-06, + "track": 9.142411272478057e-07, + "acceleration": 1.0037988573685652e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.562790647672955e-06, + "observation_loss": 5.504694399860455e-06, + "chamfer": 4.595790414896328e-06, + "track": 9.089040418075456e-07, + "acceleration": 5.80964361063252e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.517253157449886e-06, + "observation_loss": 5.398506800702307e-06, + "chamfer": 4.50914239991107e-06, + "track": 8.89364457634656e-07, + "acceleration": 1.187464278018524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.261254500510404e-06, + "observation_loss": 5.05551770402235e-06, + "chamfer": 4.228451416565804e-06, + "track": 8.270664011433837e-07, + "acceleration": 2.0573683912061824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.98176541441353e-06, + "observation_loss": 4.675932359532453e-06, + "chamfer": 3.914675289706793e-06, + "track": 7.612571266690793e-07, + "acceleration": 3.0583296961594897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.697349595517153e-06, + "observation_loss": 4.500423074205173e-06, + "chamfer": 3.7681672893086215e-06, + "track": 7.322557848965516e-07, + "acceleration": 1.9692659236625332e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.697209078585729e-06, + "observation_loss": 4.470983640203485e-06, + "chamfer": 3.7399031498352997e-06, + "track": 7.310805472116044e-07, + "acceleration": 2.2622543838224374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.714753231382929e-06, + "observation_loss": 4.437307779880939e-06, + "chamfer": 3.7104589409864275e-06, + "track": 7.268488957379304e-07, + "acceleration": 2.774453946585709e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.656995315599488e-06, + "observation_loss": 4.360940238257172e-06, + "chamfer": 3.6476649256655946e-06, + "track": 7.132754831218335e-07, + "acceleration": 2.960552762942825e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.572540547087556e-06, + "observation_loss": 4.327535862103105e-06, + "chamfer": 3.6252174595574616e-06, + "track": 7.023183457022242e-07, + "acceleration": 2.45004542875904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.558021828415804e-06, + "observation_loss": 4.315990736358799e-06, + "chamfer": 3.6128303690929897e-06, + "track": 7.031605377960659e-07, + "acceleration": 2.420310352135857e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.554118731903145e-06, + "observation_loss": 4.302404249756364e-06, + "chamfer": 3.586772209018818e-06, + "track": 7.156319838941272e-07, + "acceleration": 2.5171431161652436e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.72714782517869e-06, + "observation_loss": 4.4349148993205745e-06, + "chamfer": 3.6767853544006357e-06, + "track": 7.581297154501954e-07, + "acceleration": 2.9223281217127806e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.203614364290843e-06, + "observation_loss": 4.797048404725501e-06, + "chamfer": 3.949150141124846e-06, + "track": 8.478983204440738e-07, + "acceleration": 4.0656613009559806e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.3173307605902664e-06, + "observation_loss": 5.061609954282176e-06, + "chamfer": 4.1529401642037556e-06, + "track": 9.086695627047447e-07, + "acceleration": 2.557208347298001e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.571482233790448e-06, + "observation_loss": 5.096759650768945e-06, + "chamfer": 4.18584068029304e-06, + "track": 9.109187999456481e-07, + "acceleration": 4.7472241249124636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.340936240827432e-06, + "observation_loss": 5.091773800813826e-06, + "chamfer": 4.189930223219562e-06, + "track": 9.018435207508446e-07, + "acceleration": 2.491626105438627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.451984179671854e-06, + "observation_loss": 5.157523446541745e-06, + "chamfer": 4.248669029038865e-06, + "track": 9.088543038160424e-07, + "acceleration": 2.944606478649803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.536637218028773e-06, + "observation_loss": 5.295119080983568e-06, + "chamfer": 4.357352736406028e-06, + "track": 9.377661740472831e-07, + "acceleration": 2.4151822231033293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.665984645020217e-06, + "observation_loss": 5.475924353959272e-06, + "chamfer": 4.499453098105732e-06, + "track": 9.764712558535393e-07, + "acceleration": 1.9006031948265445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.880104254174512e-06, + "observation_loss": 5.695553682016907e-06, + "chamfer": 4.659098976844689e-06, + "track": 1.036454818859056e-06, + "acceleration": 1.8455043004905747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 5.925955065322341e-06, + "observation_loss": 5.769300059910165e-06, + "chamfer": 4.713006092060823e-06, + "track": 1.0562940815361799e-06, + "acceleration": 1.5665511909901397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.010989181959303e-06, + "observation_loss": 5.886869075766299e-06, + "chamfer": 4.788842034031404e-06, + "track": 1.0980268143612193e-06, + "acceleration": 1.2411992145189288e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.24593212705804e-06, + "observation_loss": 6.163063517306e-06, + "chamfer": 4.989981334801996e-06, + "track": 1.1730821825040039e-06, + "acceleration": 8.286848185434792e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.578674856427824e-06, + "observation_loss": 6.284792107180692e-06, + "chamfer": 5.094118478154996e-06, + "track": 1.1906738563993713e-06, + "acceleration": 2.938826639820036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.195020887389546e-06, + "observation_loss": 6.015714461682364e-06, + "chamfer": 4.901996817352483e-06, + "track": 1.113717758016719e-06, + "acceleration": 1.7930634044205362e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.852215963386698e-06, + "observation_loss": 5.679115474777063e-06, + "chamfer": 4.64177583126002e-06, + "track": 1.0373395298302057e-06, + "acceleration": 1.7310051703134377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.995245373924263e-06, + "observation_loss": 5.694344054063549e-06, + "chamfer": 4.651136805478018e-06, + "track": 1.0432073622723692e-06, + "acceleration": 3.00901149330457e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.243742063816171e-06, + "observation_loss": 5.988114935462363e-06, + "chamfer": 4.864708444074495e-06, + "track": 1.1234064913878683e-06, + "acceleration": 2.556273557274835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.295403181866277e-06, + "observation_loss": 6.173326710268157e-06, + "chamfer": 4.989241915609455e-06, + "track": 1.1840849083455396e-06, + "acceleration": 1.220764715981204e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.389549525920302e-06, + "observation_loss": 6.354076049319701e-06, + "chamfer": 5.120730293128872e-06, + "track": 1.233345756190829e-06, + "acceleration": 3.5473270543207036e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.521532213810133e-06, + "observation_loss": 6.434110218833666e-06, + "chamfer": 5.177279035706306e-06, + "track": 1.2568314105010359e-06, + "acceleration": 8.742215129586839e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.627487437071977e-06, + "observation_loss": 6.476211638073437e-06, + "chamfer": 5.208128641243093e-06, + "track": 1.2680828831435065e-06, + "acceleration": 1.51275912685378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.804915756219998e-06, + "observation_loss": 6.604525424336316e-06, + "chamfer": 5.308047093421919e-06, + "track": 1.2964784446012345e-06, + "acceleration": 2.0039054504650267e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.22982667866745e-06, + "observation_loss": 7.067323167575523e-06, + "chamfer": 5.651903848047368e-06, + "track": 1.4154194332149928e-06, + "acceleration": 1.6250342582679878e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.830673894204665e-06, + "observation_loss": 7.698536137468182e-06, + "chamfer": 6.094493528507883e-06, + "track": 1.6040422678997857e-06, + "acceleration": 1.3213778515819286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.389526556129567e-06, + "observation_loss": 8.106219866022002e-06, + "chamfer": 6.383688742062077e-06, + "track": 1.7225312376467627e-06, + "acceleration": 2.8330629220363335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.200820047932211e-06, + "observation_loss": 7.957469279062934e-06, + "chamfer": 6.285762083280133e-06, + "track": 1.671706854722288e-06, + "acceleration": 2.433505983390205e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.925581485324074e-06, + "observation_loss": 7.681618626520503e-06, + "chamfer": 6.0999414017715026e-06, + "track": 1.5816769973753253e-06, + "acceleration": 2.4396294406869856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.5178722909186035e-06, + "observation_loss": 7.440351055265637e-06, + "chamfer": 5.923602657276206e-06, + "track": 1.5167483979894314e-06, + "acceleration": 7.752130670724e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.290301255125087e-06, + "observation_loss": 7.2364550760539714e-06, + "chamfer": 5.770723873865791e-06, + "track": 1.4657312021881808e-06, + "acceleration": 5.3846189729256366e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.274049494299106e-06, + "observation_loss": 7.210194780782331e-06, + "chamfer": 5.747094292019028e-06, + "track": 1.4631003750764648e-06, + "acceleration": 6.385463535707459e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.335047939704964e-06, + "observation_loss": 7.25183872418711e-06, + "chamfer": 5.770278221461922e-06, + "track": 1.4815606164120254e-06, + "acceleration": 8.320910893644395e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.3514156611054204e-06, + "observation_loss": 7.308699423447251e-06, + "chamfer": 5.809639333165251e-06, + "track": 1.4990598629083252e-06, + "acceleration": 4.271603870620311e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5601687967719045e-06, + "observation_loss": 7.362016276601935e-06, + "chamfer": 5.834728654008359e-06, + "track": 1.5272875089067384e-06, + "acceleration": 1.9815263385680737e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.871226443967316e-06, + "observation_loss": 7.4193258114974014e-06, + "chamfer": 5.8797904785024e-06, + "track": 1.5395355603686767e-06, + "acceleration": 4.51900774578462e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.454777344013564e-06, + "observation_loss": 7.533139068982564e-06, + "chamfer": 5.9500989664229564e-06, + "track": 1.5830402162464452e-06, + "acceleration": 9.216381045007438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 8.997759323392529e-06, + "observation_loss": 7.669566002732608e-06, + "chamfer": 6.058332928660093e-06, + "track": 1.6112331877593533e-06, + "acceleration": 1.3281933206599206e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.588200216763653e-06, + "observation_loss": 7.81116250436753e-06, + "chamfer": 6.168105301185278e-06, + "track": 1.643057657929603e-06, + "acceleration": 7.770374281790282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.453588634438347e-06, + "observation_loss": 8.13344831840368e-06, + "chamfer": 6.403173301805509e-06, + "track": 1.730274902911333e-06, + "acceleration": 3.201400602392823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.8340493675787e-06, + "observation_loss": 8.587877346144523e-06, + "chamfer": 6.714319169986993e-06, + "track": 1.8735580624706927e-06, + "acceleration": 2.461723909163993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.234210665454157e-06, + "observation_loss": 9.129522368311882e-06, + "chamfer": 7.08227526047267e-06, + "track": 2.047247107839212e-06, + "acceleration": 1.0468873057334349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.493791367276572e-06, + "observation_loss": 9.41423604672309e-06, + "chamfer": 7.2723382800177205e-06, + "track": 2.1418982214527205e-06, + "acceleration": 7.955510028523349e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.870239409792703e-06, + "observation_loss": 9.611569112166762e-06, + "chamfer": 7.4044060056621674e-06, + "track": 2.207163106504595e-06, + "acceleration": 2.586701270956837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.96058042801451e-06, + "observation_loss": 9.802445674722549e-06, + "chamfer": 7.509271199523937e-06, + "track": 2.2931744751986116e-06, + "acceleration": 1.5813458276170422e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 9.99993244477082e-06, + "observation_loss": 9.892616617435124e-06, + "chamfer": 7.555340289400192e-06, + "track": 2.337276328034932e-06, + "acceleration": 1.0731623234505605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0109345566888805e-05, + "observation_loss": 9.796609447221272e-06, + "chamfer": 7.492335043934872e-06, + "track": 2.3042739485390484e-06, + "acceleration": 3.127359491372772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0345101145503577e-05, + "observation_loss": 9.562001650920138e-06, + "chamfer": 7.35330831957981e-06, + "track": 2.208693331340328e-06, + "acceleration": 7.830990966795071e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.957700058293995e-06, + "observation_loss": 9.484863767283969e-06, + "chamfer": 7.293749604286859e-06, + "track": 2.1911146177444607e-06, + "acceleration": 4.7283586468438443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.631641660234891e-06, + "observation_loss": 9.433568266103975e-06, + "chamfer": 7.258986897795694e-06, + "track": 2.174581140934606e-06, + "acceleration": 1.9807377782399271e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.054896529240068e-05, + "observation_loss": 9.321344805357512e-06, + "chamfer": 7.181763976404909e-06, + "track": 2.1395810563262785e-06, + "acceleration": 1.2276209417905193e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.4112718417891301e-05, + "observation_loss": 9.234741810359992e-06, + "chamfer": 7.090955477906391e-06, + "track": 2.143786332453601e-06, + "acceleration": 4.87797706227866e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2872153092757799e-05, + "observation_loss": 9.569319445290603e-06, + "chamfer": 7.332736913667759e-06, + "track": 2.236582076875493e-06, + "acceleration": 3.3028338748408714e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1631704182946123e-05, + "observation_loss": 9.7925712907454e-06, + "chamfer": 7.474577614630107e-06, + "track": 2.317993676115293e-06, + "acceleration": 1.8391333469480742e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0598392691463232e-05, + "observation_loss": 9.686912562756334e-06, + "chamfer": 7.395967259071767e-06, + "track": 2.290945303684566e-06, + "acceleration": 9.114800718634797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0277184628648683e-05, + "observation_loss": 9.806281013879925e-06, + "chamfer": 7.474957328668097e-06, + "track": 2.331324139959179e-06, + "acceleration": 4.7090335897337354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0264388038194738e-05, + "observation_loss": 9.99394069367554e-06, + "chamfer": 7.580813871754799e-06, + "track": 2.413127049294417e-06, + "acceleration": 2.704477708448394e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.039593462337507e-05, + "observation_loss": 1.0218066563538741e-05, + "chamfer": 7.697549335716758e-06, + "track": 2.520517000448308e-06, + "acceleration": 1.778677471975243e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0678572834876832e-05, + "observation_loss": 1.0455625670147128e-05, + "chamfer": 7.821665349183604e-06, + "track": 2.6339598662161734e-06, + "acceleration": 2.2294683788004477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0868907338590361e-05, + "observation_loss": 1.0756712072179653e-05, + "chamfer": 8.013820661290083e-06, + "track": 2.742891638263245e-06, + "acceleration": 1.1219486140134904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.122307003242895e-05, + "observation_loss": 1.1118817383248825e-05, + "chamfer": 8.252475709014107e-06, + "track": 2.8663414468610426e-06, + "acceleration": 1.0425301866234804e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1536730198713485e-05, + "observation_loss": 1.1379795978427865e-05, + "chamfer": 8.42467306938488e-06, + "track": 2.955122681669309e-06, + "acceleration": 1.5693457555698842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1644947335298639e-05, + "observation_loss": 1.1487451047287323e-05, + "chamfer": 8.479919415549375e-06, + "track": 3.007531859111623e-06, + "acceleration": 1.5749601800507662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1723433090082835e-05, + "observation_loss": 1.1565672139113303e-05, + "chamfer": 8.529515071131755e-06, + "track": 3.0361570679815486e-06, + "acceleration": 1.577608230718397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1819632163678762e-05, + "observation_loss": 1.164425066235708e-05, + "chamfer": 8.56446786201559e-06, + "track": 3.0797828003414907e-06, + "acceleration": 1.7538121710458654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1784483831434045e-05, + "observation_loss": 1.1664479643513914e-05, + "chamfer": 8.566633368900511e-06, + "track": 3.0978465019870782e-06, + "acceleration": 1.200043726612421e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.194169726659311e-05, + "observation_loss": 1.1678741429932415e-05, + "chamfer": 8.577469998272136e-06, + "track": 3.101271204286604e-06, + "acceleration": 2.629556945521472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1886265383509453e-05, + "observation_loss": 1.1752487807825673e-05, + "chamfer": 8.613864338258281e-06, + "track": 3.1386236969410675e-06, + "acceleration": 1.3377714935813856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1923560123250354e-05, + "observation_loss": 1.183118365588598e-05, + "chamfer": 8.645887646707706e-06, + "track": 3.185295781804598e-06, + "acceleration": 9.237614762014346e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1987115613010246e-05, + "observation_loss": 1.189279373647878e-05, + "chamfer": 8.6790751083754e-06, + "track": 3.2137184007297037e-06, + "acceleration": 9.432195469116778e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.2063754184055142e-05, + "observation_loss": 1.1981068382738158e-05, + "chamfer": 8.72446435096208e-06, + "track": 3.256604031776078e-06, + "acceleration": 8.268619922091602e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.2022420378343668e-05, + "observation_loss": 1.1923725651286077e-05, + "chamfer": 8.693496056366712e-06, + "track": 3.230229594919365e-06, + "acceleration": 9.869436468079584e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1797825209214352e-05, + "observation_loss": 1.1728938261512667e-05, + "chamfer": 8.578132110415027e-06, + "track": 3.150805923723965e-06, + "acceleration": 6.888740244903602e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.371912651720473e-06, + "chamfer_mean": 5.728931640192059e-06, + "track_mean": 1.5843779014682962e-06, + "acceleration_mean": 1.0586030900761045e-06, + "observation_score": 7.313309545509128e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4334115989986458 + }, + "score_arrays_file": "pass_scores/pass_end_0279.npz", + "score_arrays_sha256": "83f1e8a58e9dd1f8d8b86b4479f7cb046d57b0af0bb6fc0e9f1bf9024ed7f1fe" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0280.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0280.json new file mode 100644 index 0000000000000000000000000000000000000000..19fff57453fb1065334d5122254e029b9eb7e8ad --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0280.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 26880, + "completed_passes": 280, + "snapshot": "pass_end_0280", + "candidate": true, + "snapshot_arrays_sha256": "5fce91a2a56cfe7ef1cd04905acc08e6a5d9bb9132a264d3f585085de3f89823", + "score": 7.309324184726999e-06, + "score_result": { + "score": 7.309324184726999e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.877120095945429e-06, + 3.1627666885469807e-06, + 3.323044438729994e-06, + 3.7559264001174597e-06, + 4.286590410629287e-06, + 4.493141659622779e-06, + 4.26584119850304e-06, + 4.144684680795763e-06, + 4.080239250470186e-06, + 4.187102149444399e-06, + 4.560517936624819e-06, + 5.015258011553669e-06, + 5.313319434208097e-06, + 5.5146406339190435e-06, + 5.503809006768279e-06, + 5.397578206611797e-06, + 5.054094344814075e-06, + 4.674154752137838e-06, + 4.497799181990558e-06, + 4.468942734092707e-06, + 4.43562566943001e-06, + 4.358647856861353e-06, + 4.325399913795991e-06, + 4.3133572944498155e-06, + 4.29970896220766e-06, + 4.431124580150936e-06, + 4.794837877852842e-06, + 5.060234798293095e-06, + 5.093971140013309e-06, + 5.085437351226574e-06, + 5.15235478815157e-06, + 5.290703938953811e-06, + 5.4729971452616155e-06, + 5.695181243936531e-06, + 5.772404165327316e-06, + 5.8892551351164e-06, + 6.162575118651148e-06, + 6.2810254348733e-06, + 6.010516699461732e-06, + 5.674372005159967e-06, + 5.689221779903164e-06, + 5.98165479459567e-06, + 6.167882020235993e-06, + 6.34986372460844e-06, + 6.430417215597117e-06, + 6.473113899119198e-06, + 6.602399025723571e-06, + 7.067076239763992e-06, + 7.700189598836005e-06, + 8.108184374577831e-06, + 7.959178219607566e-06, + 7.68467452871846e-06, + 7.443813046847936e-06, + 7.239179467433132e-06, + 7.211720912891906e-06, + 7.252007890201639e-06, + 7.308730346267112e-06, + 7.3624701144581195e-06, + 7.42062275094213e-06, + 7.534957148891408e-06, + 7.671809726161882e-06, + 7.814387572580017e-06, + 8.139380042848643e-06, + 8.596917723480146e-06, + 9.140519068751018e-06, + 9.427077202417422e-06, + 9.625375241739675e-06, + 9.817013051360846e-06, + 9.908451829687692e-06, + 9.811839845497161e-06, + 9.576007869327441e-06, + 9.497512110101525e-06, + 9.445520845474675e-06, + 9.32647344598081e-06, + 9.23682364373235e-06, + 9.562381819705479e-06, + 9.786228474695235e-06, + 9.676941772340797e-06, + 9.79782907961635e-06, + 9.981962648453191e-06, + 1.0202807061432395e-05, + 1.0436280717840418e-05, + 1.0735830983321648e-05, + 1.1094645742559806e-05, + 1.1355953574820887e-05, + 1.146154863818083e-05, + 1.1541405001480598e-05, + 1.1618070857366547e-05, + 1.1638333489827346e-05, + 1.1651605746010318e-05, + 1.1724736395990476e-05, + 1.1803547749877907e-05, + 1.1865067790495232e-05, + 1.1952509339607786e-05, + 1.1898726370418444e-05, + 1.1709939826687332e-05 + ] + ], + "episode_mean_losses": [ + 7.309324184726999e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.877120095945429e-06, + "observation_loss": 2.877120095945429e-06, + "chamfer": 2.440801381453639e-06, + "track": 4.3631879975691845e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.156168506597169e-05, + "observation_loss": 3.1627666885469807e-06, + "chamfer": 2.6751017685455736e-06, + "track": 4.876648631579883e-07, + "acceleration": 3.839891724055633e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.363832390983589e-05, + "observation_loss": 3.323044438729994e-06, + "chamfer": 2.8128195026511094e-06, + "track": 5.102249360788846e-07, + "acceleration": 2.0315279471105896e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0304288480256218e-05, + "observation_loss": 3.7559264001174597e-06, + "chamfer": 3.1668305382481776e-06, + "track": 5.89095918712701e-07, + "acceleration": 6.548361852765083e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.4968007791321725e-06, + "observation_loss": 4.286590410629287e-06, + "chamfer": 3.594363306547166e-06, + "track": 6.922269335518649e-07, + "acceleration": 2.2102105958765605e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.766841240983922e-06, + "observation_loss": 4.493141659622779e-06, + "chamfer": 3.7590505144180497e-06, + "track": 7.340910315178917e-07, + "acceleration": 1.273699581361143e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 5.019021045882255e-06, + "observation_loss": 4.26584119850304e-06, + "chamfer": 3.5744253636948997e-06, + "track": 6.914158916515589e-07, + "acceleration": 7.531800747528905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.647733931051334e-06, + "observation_loss": 4.144684680795763e-06, + "chamfer": 3.478375219856389e-06, + "track": 6.663095177827927e-07, + "acceleration": 5.030491934121528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.535439529718133e-06, + "observation_loss": 4.080239250470186e-06, + "chamfer": 3.42885437021323e-06, + "track": 6.513848802569555e-07, + "acceleration": 4.5520027924794704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.504817297856789e-06, + "observation_loss": 4.187102149444399e-06, + "chamfer": 3.516875722198165e-06, + "track": 6.702264272462344e-07, + "acceleration": 3.1771520525580854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.6866853153915145e-06, + "observation_loss": 4.560517936624819e-06, + "chamfer": 3.820373422058765e-06, + "track": 7.401444008792168e-07, + "acceleration": 1.2616760614037048e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.100092494103592e-06, + "observation_loss": 5.015258011553669e-06, + "chamfer": 4.1847465581668075e-06, + "track": 8.305115670736996e-07, + "acceleration": 8.483464597475177e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.397660515882308e-06, + "observation_loss": 5.313319434208097e-06, + "chamfer": 4.429508862813236e-06, + "track": 8.838105713948607e-07, + "acceleration": 8.43412379936126e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.61579008717672e-06, + "observation_loss": 5.5146406339190435e-06, + "chamfer": 4.600610282068374e-06, + "track": 9.14030295007251e-07, + "acceleration": 1.0114966642049694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.562012574955588e-06, + "observation_loss": 5.503809006768279e-06, + "chamfer": 4.595065547619015e-06, + "track": 9.087434591492638e-07, + "acceleration": 5.820344739504435e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.516378223546781e-06, + "observation_loss": 5.397578206611797e-06, + "chamfer": 4.50838297183509e-06, + "track": 8.891953484635451e-07, + "acceleration": 1.1879983929929949e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.259601039142581e-06, + "observation_loss": 5.054094344814075e-06, + "chamfer": 4.227280896884622e-06, + "track": 8.268132773991965e-07, + "acceleration": 2.055065522199584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.97922610520618e-06, + "observation_loss": 4.674154752137838e-06, + "chamfer": 3.913216460205149e-06, + "track": 7.60938291932689e-07, + "acceleration": 3.050714951768896e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.6934260353737045e-06, + "observation_loss": 4.497799181990558e-06, + "chamfer": 3.765995415960788e-06, + "track": 7.318037660297705e-07, + "acceleration": 1.956267254854538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.6937507249822374e-06, + "observation_loss": 4.468942734092707e-06, + "chamfer": 3.738195573532721e-06, + "track": 7.307472174034046e-07, + "acceleration": 2.2480780614841933e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.712397185357986e-06, + "observation_loss": 4.43562566943001e-06, + "chamfer": 3.709045358846197e-06, + "track": 7.265804242706508e-07, + "acceleration": 2.76771714879942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.652436473406851e-06, + "observation_loss": 4.358647856861353e-06, + "chamfer": 3.6457636269915383e-06, + "track": 7.128841161829769e-07, + "acceleration": 2.9378858812378894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.570426426653285e-06, + "observation_loss": 4.325399913795991e-06, + "chamfer": 3.6234605431673117e-06, + "track": 7.019393137852603e-07, + "acceleration": 2.450263139053277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.555642135528615e-06, + "observation_loss": 4.3133572944498155e-06, + "chamfer": 3.6106782772549195e-06, + "track": 7.026790740383149e-07, + "acceleration": 2.422850116090558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.554830411507282e-06, + "observation_loss": 4.29970896220766e-06, + "chamfer": 3.5845193906425266e-06, + "track": 7.151895715651335e-07, + "acceleration": 2.551215345647506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.723140136775328e-06, + "observation_loss": 4.431124580150936e-06, + "chamfer": 3.673655783131835e-06, + "track": 7.574686264888442e-07, + "acceleration": 2.9201535767242603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.19985269420431e-06, + "observation_loss": 4.794837877852842e-06, + "chamfer": 3.947257027903106e-06, + "track": 8.475808499497361e-07, + "acceleration": 4.0501501530343376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.321389380696928e-06, + "observation_loss": 5.060234798293095e-06, + "chamfer": 4.151739176450064e-06, + "track": 9.084956786864495e-07, + "acceleration": 2.611546392472519e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.5653636081842706e-06, + "observation_loss": 5.093971140013309e-06, + "chamfer": 4.183546479907818e-06, + "track": 9.104246601054911e-07, + "acceleration": 4.713926955446368e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.333130047802115e-06, + "observation_loss": 5.085437351226574e-06, + "chamfer": 4.185002126178006e-06, + "track": 9.004353387354058e-07, + "acceleration": 2.4769289552750706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.449646778288297e-06, + "observation_loss": 5.15235478815157e-06, + "chamfer": 4.244732735969592e-06, + "track": 9.076218816517212e-07, + "acceleration": 2.9729176276305225e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.543329734791769e-06, + "observation_loss": 5.290703938953811e-06, + "chamfer": 4.354069460532628e-06, + "track": 9.366343647343456e-07, + "acceleration": 2.52625767416248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.67540473639383e-06, + "observation_loss": 5.4729971452616155e-06, + "chamfer": 4.497403097047936e-06, + "track": 9.755942755873548e-07, + "acceleration": 2.024075911322143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.8917330534313805e-06, + "observation_loss": 5.695181243936531e-06, + "chamfer": 4.65918174086255e-06, + "track": 1.0359992757003056e-06, + "acceleration": 1.965520084468153e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 5.937219157203799e-06, + "observation_loss": 5.772404165327316e-06, + "chamfer": 4.715678642241983e-06, + "track": 1.0567254093984957e-06, + "acceleration": 1.648149208222094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.0150891840748955e-06, + "observation_loss": 5.8892551351164e-06, + "chamfer": 4.7907951739034615e-06, + "track": 1.098459847526101e-06, + "acceleration": 1.2583402053678583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.252165348996641e-06, + "observation_loss": 6.162575118651148e-06, + "chamfer": 4.989615717931883e-06, + "track": 1.17295962809294e-06, + "acceleration": 8.959037955946769e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.572938218596391e-06, + "observation_loss": 6.2810254348733e-06, + "chamfer": 5.091142611490795e-06, + "track": 1.1898827096956666e-06, + "acceleration": 2.9191301109676715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.190581643750193e-06, + "observation_loss": 6.010516699461732e-06, + "chamfer": 4.897913186141523e-06, + "track": 1.112603740693885e-06, + "acceleration": 1.800649158667511e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.845382020197576e-06, + "observation_loss": 5.674372005159967e-06, + "chamfer": 4.638021437131101e-06, + "track": 1.036350681715703e-06, + "acceleration": 1.710099581941904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.987357781123137e-06, + "observation_loss": 5.689221779903164e-06, + "chamfer": 4.64703407487832e-06, + "track": 1.042187705024844e-06, + "acceleration": 2.9813605806339183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.235997716430575e-06, + "observation_loss": 5.98165479459567e-06, + "chamfer": 4.85958616991411e-06, + "track": 1.122068738368398e-06, + "acceleration": 2.5434286499148584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.290575583989266e-06, + "observation_loss": 6.167882020235993e-06, + "chamfer": 4.984943643648876e-06, + "track": 1.1829381492134416e-06, + "acceleration": 1.2269337901216204e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.384704192896606e-06, + "observation_loss": 6.34986372460844e-06, + "chamfer": 5.117391538078664e-06, + "track": 1.2324719591561006e-06, + "acceleration": 3.484055000058106e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.517434030683944e-06, + "observation_loss": 6.430417215597117e-06, + "chamfer": 5.17437229063944e-06, + "track": 1.25604481127084e-06, + "acceleration": 8.701690035195497e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.624258730880683e-06, + "observation_loss": 6.473113899119198e-06, + "chamfer": 5.205689376452938e-06, + "track": 1.2674242952925852e-06, + "acceleration": 1.5114471807464724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.8023705352970865e-06, + "observation_loss": 6.602399025723571e-06, + "chamfer": 5.306386810843833e-06, + "track": 1.2960123285665759e-06, + "acceleration": 1.9997158062778908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.22959066479234e-06, + "observation_loss": 7.067076239763992e-06, + "chamfer": 5.651664196193451e-06, + "track": 1.4154120435705408e-06, + "acceleration": 1.6251433976322005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.833054041839205e-06, + "observation_loss": 7.700189598836005e-06, + "chamfer": 6.0956399465794675e-06, + "track": 1.6045498796302127e-06, + "acceleration": 1.3286403088841325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.392068593821023e-06, + "observation_loss": 8.108184374577831e-06, + "chamfer": 6.385067536029965e-06, + "track": 1.7231164974873536e-06, + "acceleration": 2.838842192431912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.203937795769889e-06, + "observation_loss": 7.959178219607566e-06, + "chamfer": 6.286999450821895e-06, + "track": 1.6721787687856704e-06, + "acceleration": 2.447595477406139e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.92927312431857e-06, + "observation_loss": 7.68467452871846e-06, + "chamfer": 6.10223332841997e-06, + "track": 1.5824410866116523e-06, + "acceleration": 2.4459887981720385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.521690349676646e-06, + "observation_loss": 7.443813046847936e-06, + "chamfer": 5.926206540607382e-06, + "track": 1.5176065062405542e-06, + "acceleration": 7.787750178067654e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.292878763109911e-06, + "observation_loss": 7.239179467433132e-06, + "chamfer": 5.772848453489132e-06, + "track": 1.4663307865703246e-06, + "acceleration": 5.3699231727932784e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.274598829098977e-06, + "observation_loss": 7.211720912891906e-06, + "chamfer": 5.748272087657824e-06, + "track": 1.4634489389209193e-06, + "acceleration": 6.287805831561855e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.3350097409274895e-06, + "observation_loss": 7.252007890201639e-06, + "chamfer": 5.770372808910906e-06, + "track": 1.4816353086644085e-06, + "acceleration": 8.300170861730294e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.351680324063636e-06, + "observation_loss": 7.308730346267112e-06, + "chamfer": 5.809578851767583e-06, + "track": 1.4991514944995288e-06, + "acceleration": 4.2950087930648806e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.561460733995773e-06, + "observation_loss": 7.3624701144581195e-06, + "chamfer": 5.834911917190766e-06, + "track": 1.5275581972673535e-06, + "acceleration": 1.989904347965421e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.874702532717492e-06, + "observation_loss": 7.42062275094213e-06, + "chamfer": 5.880695880478015e-06, + "track": 1.5399269841509522e-06, + "acceleration": 4.540798101970722e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.459572200081311e-06, + "observation_loss": 7.534957148891408e-06, + "chamfer": 5.951314051344525e-06, + "track": 1.5836432112337206e-06, + "acceleration": 9.246148806596466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.003435479826294e-06, + "observation_loss": 7.671809726161882e-06, + "chamfer": 6.059853149054106e-06, + "track": 1.611956577107776e-06, + "acceleration": 1.3316262084117625e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.594306564191356e-06, + "observation_loss": 7.814387572580017e-06, + "chamfer": 6.17030673311092e-06, + "track": 1.6440803847217467e-06, + "acceleration": 7.799189347679203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.461780453217216e-06, + "observation_loss": 8.139380042848643e-06, + "chamfer": 6.407403816410806e-06, + "track": 1.7319763401246746e-06, + "acceleration": 3.224000977297692e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.844646799843758e-06, + "observation_loss": 8.596917723480146e-06, + "chamfer": 6.720815690641757e-06, + "track": 1.8761019191515516e-06, + "acceleration": 2.47729275315578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.245961337001063e-06, + "observation_loss": 9.140519068751018e-06, + "chamfer": 7.090033250278793e-06, + "track": 2.0504855910985498e-06, + "acceleration": 1.0544201245465956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.507402864983305e-06, + "observation_loss": 9.427077202417422e-06, + "chamfer": 7.281379566848045e-06, + "track": 2.1456974081957014e-06, + "acceleration": 8.032527176737858e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.884718565444928e-06, + "observation_loss": 9.625375241739675e-06, + "chamfer": 7.4142590165138245e-06, + "track": 2.211116225225851e-06, + "acceleration": 2.5934332370525226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.975095963454805e-06, + "observation_loss": 9.817013051360846e-06, + "chamfer": 7.519648988818517e-06, + "track": 2.2973636077949777e-06, + "acceleration": 1.580829689373786e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0016243322752416e-05, + "observation_loss": 9.908451829687692e-06, + "chamfer": 7.566815838799812e-06, + "track": 2.341635763514205e-06, + "acceleration": 1.0779118042592017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0124213076778688e-05, + "observation_loss": 9.811839845497161e-06, + "chamfer": 7.503396318497835e-06, + "track": 2.308443754373002e-06, + "acceleration": 3.123734302334924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0359850421082228e-05, + "observation_loss": 9.576007869327441e-06, + "chamfer": 7.363536042248597e-06, + "track": 2.212471599705168e-06, + "acceleration": 7.838428928153007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.970550308935344e-06, + "observation_loss": 9.497512110101525e-06, + "chamfer": 7.302970516320784e-06, + "track": 2.194541593780741e-06, + "acceleration": 4.7303865358117037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.644675628805999e-06, + "observation_loss": 9.445520845474675e-06, + "chamfer": 7.267542059707921e-06, + "track": 2.177979240514105e-06, + "acceleration": 1.9915499649414414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.0542667041590903e-05, + "observation_loss": 9.32647344598081e-06, + "chamfer": 7.186267794168089e-06, + "track": 2.1402054244390456e-06, + "acceleration": 1.2161934819232556e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.4013871805218514e-05, + "observation_loss": 9.23682364373235e-06, + "chamfer": 7.09399682818912e-06, + "track": 2.1428268155432306e-06, + "acceleration": 4.777048161486164e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2963269000465516e-05, + "observation_loss": 9.562381819705479e-06, + "chamfer": 7.3279325079056434e-06, + "track": 2.2344488570524845e-06, + "acceleration": 3.4008874081337126e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1742060451069847e-05, + "observation_loss": 9.786228474695235e-06, + "chamfer": 7.470272521459265e-06, + "track": 2.3159561806096463e-06, + "acceleration": 1.9558319763746113e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.060641989170108e-05, + "observation_loss": 9.676941772340797e-06, + "chamfer": 7.389365237031598e-06, + "track": 2.2875765353091992e-06, + "acceleration": 9.29478119360283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.023938057187479e-05, + "observation_loss": 9.79782907961635e-06, + "chamfer": 7.468558578693774e-06, + "track": 2.3292702735489e-06, + "acceleration": 4.4155163436698786e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0251675121253356e-05, + "observation_loss": 9.981962648453191e-06, + "chamfer": 7.573299626528751e-06, + "track": 2.4086627945507644e-06, + "acceleration": 2.697125296435843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0398023732705042e-05, + "observation_loss": 1.0202807061432395e-05, + "chamfer": 7.68820336816134e-06, + "track": 2.5146034658973804e-06, + "acceleration": 1.9521637284469762e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0681003004719969e-05, + "observation_loss": 1.0436280717840418e-05, + "chamfer": 7.809949238435365e-06, + "track": 2.626331479405053e-06, + "acceleration": 2.447221447710035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0859743269975297e-05, + "observation_loss": 1.0735830983321648e-05, + "chamfer": 8.001072274055332e-06, + "track": 2.7347589366399916e-06, + "acceleration": 1.239123150753585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1204410839127377e-05, + "observation_loss": 1.1094645742559806e-05, + "chamfer": 8.237881957029458e-06, + "track": 2.856763558156672e-06, + "acceleration": 1.097655086823579e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1519939107529353e-05, + "observation_loss": 1.1355953574820887e-05, + "chamfer": 8.410122063651215e-06, + "track": 2.9458317385433475e-06, + "acceleration": 1.6398573166043207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1621672456385568e-05, + "observation_loss": 1.146154863818083e-05, + "chamfer": 8.464128768537194e-06, + "track": 2.997419869643636e-06, + "acceleration": 1.6012386083730235e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1697436093527358e-05, + "observation_loss": 1.1541405001480598e-05, + "chamfer": 8.514873115927912e-06, + "track": 3.0265316581790103e-06, + "acceleration": 1.5603120573359774e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1790799362643156e-05, + "observation_loss": 1.1618070857366547e-05, + "chamfer": 8.548783625883516e-06, + "track": 3.0692874588567065e-06, + "acceleration": 1.7272844843319035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1757340871554334e-05, + "observation_loss": 1.1638333489827346e-05, + "chamfer": 8.550787242711522e-06, + "track": 3.0875462471158244e-06, + "acceleration": 1.1900763041694518e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1920313227165025e-05, + "observation_loss": 1.1651605746010318e-05, + "chamfer": 8.56121550896205e-06, + "track": 3.0903897823009174e-06, + "acceleration": 2.687073674678686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1862564861075953e-05, + "observation_loss": 1.1724736395990476e-05, + "chamfer": 8.597197847848292e-06, + "track": 3.127538320768508e-06, + "acceleration": 1.3782863561573322e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1896407158928923e-05, + "observation_loss": 1.1803547749877907e-05, + "chamfer": 8.629634976387024e-06, + "track": 3.1739123187435325e-06, + "acceleration": 9.285919588819525e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.195982622448355e-05, + "observation_loss": 1.1865067790495232e-05, + "chamfer": 8.662962500238791e-06, + "track": 3.202105517630116e-06, + "acceleration": 9.475839846118106e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.2035309737257194e-05, + "observation_loss": 1.1952509339607786e-05, + "chamfer": 8.707640517968684e-06, + "track": 3.2448690490127774e-06, + "acceleration": 8.280052554709982e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1997506589978002e-05, + "observation_loss": 1.1898726370418444e-05, + "chamfer": 8.67819289851468e-06, + "track": 3.2205332445300883e-06, + "acceleration": 9.878002771301908e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1780031854868867e-05, + "observation_loss": 1.1709939826687332e-05, + "chamfer": 8.56601673149271e-06, + "track": 3.1439228678209474e-06, + "acceleration": 7.009166580473902e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.369745439532986e-06, + "chamfer_mean": 5.726475218163311e-06, + "track_mean": 1.5828489265956591e-06, + "acceleration_mean": 1.0604212603571028e-06, + "observation_score": 7.309324184726999e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4284193680014141 + }, + "score_arrays_file": "pass_scores/pass_end_0280.npz", + "score_arrays_sha256": "dca4070b29519e464ff08da1aa7f155153f907234ed611141189c631edd5856a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0281.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0281.json new file mode 100644 index 0000000000000000000000000000000000000000..a50e264cf7c7a124e1ebc4e2bf4c0e7fbcf9afa0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0281.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 26976, + "completed_passes": 281, + "snapshot": "pass_end_0281", + "candidate": true, + "snapshot_arrays_sha256": "2079f9504f3cc3aca8908f7e0dc6118c966e424e55975c3a233f6c1ee0cfd161", + "score": 7.305642912551018e-06, + "score_result": { + "score": 7.305642912551018e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.87684360955609e-06, + 3.16245086651179e-06, + 3.321247504572966e-06, + 3.7540821722359397e-06, + 4.284102033125237e-06, + 4.490731953410432e-06, + 4.262819402356399e-06, + 4.1407520257052965e-06, + 4.076772256667027e-06, + 4.183727469353471e-06, + 4.557564352580812e-06, + 5.012447672925191e-06, + 5.311124368745368e-06, + 5.512752977665514e-06, + 5.502306066773599e-06, + 5.3961030062055215e-06, + 5.051962489233119e-06, + 4.6716972974536475e-06, + 4.49460412710323e-06, + 4.466645805223379e-06, + 4.432766672834987e-06, + 4.355222699814476e-06, + 4.3219611143285874e-06, + 4.309535142965615e-06, + 4.2969513742718846e-06, + 4.427649855642812e-06, + 4.793696007254766e-06, + 5.059789600636577e-06, + 5.092368155601434e-06, + 5.080917617306113e-06, + 5.1491351769072935e-06, + 5.2884920478390995e-06, + 5.471586518979166e-06, + 5.6953122111735865e-06, + 5.774822966486681e-06, + 5.8917094065691344e-06, + 6.163195394037757e-06, + 6.278798082348658e-06, + 6.006889634591062e-06, + 5.670717200700892e-06, + 5.68565428693546e-06, + 5.977519776934059e-06, + 6.164341812109342e-06, + 6.346888767438941e-06, + 6.42753047941369e-06, + 6.470707376138307e-06, + 6.60080831949017e-06, + 7.066626949381316e-06, + 7.701086360611953e-06, + 8.108477231871802e-06, + 7.959009963087738e-06, + 7.684878255531657e-06, + 7.444061793648871e-06, + 7.23902940080734e-06, + 7.21070728104678e-06, + 7.250352155097062e-06, + 7.307089617825113e-06, + 7.361068583122687e-06, + 7.419701432809234e-06, + 7.534485121141188e-06, + 7.671776984352618e-06, + 7.814916898496449e-06, + 8.141360922309104e-06, + 8.600913133705035e-06, + 9.145805051957723e-06, + 9.43346822168678e-06, + 9.632519322622102e-06, + 9.824964763538446e-06, + 9.917216630128678e-06, + 9.820718332775868e-06, + 9.583680366631597e-06, + 9.504279660177417e-06, + 9.45148894970771e-06, + 9.328195119451266e-06, + 9.23762399906991e-06, + 9.555245014780667e-06, + 9.779656465980224e-06, + 9.66701190918684e-06, + 9.789673640625551e-06, + 9.971325198421255e-06, + 1.0191399269388057e-05, + 1.042250278260326e-05, + 1.0721192666096613e-05, + 1.1076926057285164e-05, + 1.1338701369822957e-05, + 1.1442201866884716e-05, + 1.1523027751536574e-05, + 1.1599149729590863e-05, + 1.1619607903412543e-05, + 1.1632117093540728e-05, + 1.1704728422046173e-05, + 1.1783836271206383e-05, + 1.184578832180705e-05, + 1.193231491924962e-05, + 1.1882530088769272e-05, + 1.1701575203915127e-05 + ] + ], + "episode_mean_losses": [ + 7.305642912551018e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.87684360955609e-06, + "observation_loss": 2.87684360955609e-06, + "chamfer": 2.4405610474786954e-06, + "track": 4.3628261892081355e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.155655187787488e-05, + "observation_loss": 3.16245086651179e-06, + "chamfer": 2.6748302843770944e-06, + "track": 4.876205252912769e-07, + "acceleration": 3.839410055661574e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3622253138455562e-05, + "observation_loss": 3.321247504572966e-06, + "chamfer": 2.811322474371991e-06, + "track": 5.099249733575562e-07, + "acceleration": 2.030100586125627e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0298727829649579e-05, + "observation_loss": 3.7540821722359397e-06, + "chamfer": 3.1653023597755237e-06, + "track": 5.887796987735783e-07, + "acceleration": 6.544645657413639e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.475891495938413e-06, + "observation_loss": 4.284102033125237e-06, + "chamfer": 3.5923255836678436e-06, + "track": 6.917766199876496e-07, + "acceleration": 2.1917892354395008e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.758803126809653e-06, + "observation_loss": 4.490731953410432e-06, + "chamfer": 3.7570748645521235e-06, + "track": 7.336570320148894e-07, + "acceleration": 1.2680710597123834e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 5.0120052037527785e-06, + "observation_loss": 4.262819402356399e-06, + "chamfer": 3.571926299628103e-06, + "track": 6.908932164151338e-07, + "acceleration": 7.491855740227038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.644562523026252e-06, + "observation_loss": 4.1407520257052965e-06, + "chamfer": 3.4751215025607962e-06, + "track": 6.656304663010815e-07, + "acceleration": 5.038105541643745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.532322691375157e-06, + "observation_loss": 4.076772256667027e-06, + "chamfer": 3.4259919630130753e-06, + "track": 6.507801231236954e-07, + "acceleration": 4.555506052383862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.500588602240896e-06, + "observation_loss": 4.183727469353471e-06, + "chamfer": 3.5140690215484938e-06, + "track": 6.696582204313017e-07, + "acceleration": 3.1686110446571547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.683960469265003e-06, + "observation_loss": 4.557564352580812e-06, + "chamfer": 3.817916422121925e-06, + "track": 7.396479873023054e-07, + "acceleration": 1.2639620194931922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.097376288176747e-06, + "observation_loss": 5.012447672925191e-06, + "chamfer": 4.18242916566669e-06, + "track": 8.300183935716632e-07, + "acceleration": 8.492849445929096e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.395508651417913e-06, + "observation_loss": 5.311124368745368e-06, + "chamfer": 4.4277012420934625e-06, + "track": 8.834232971821621e-07, + "acceleration": 8.438406240429686e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.613811481453013e-06, + "observation_loss": 5.512752977665514e-06, + "chamfer": 4.5990686885488685e-06, + "track": 9.136844596469018e-07, + "acceleration": 1.0105866010690079e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.5605496527277865e-06, + "observation_loss": 5.502306066773599e-06, + "chamfer": 4.593860012391815e-06, + "track": 9.084459975383652e-07, + "acceleration": 5.8243411871217177e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.51497214473784e-06, + "observation_loss": 5.3961030062055215e-06, + "chamfer": 4.507199264480732e-06, + "track": 8.88903798568208e-07, + "acceleration": 1.188689324749248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.257537850411609e-06, + "observation_loss": 5.051962489233119e-06, + "chamfer": 4.225538759783376e-06, + "track": 8.264236157629057e-07, + "acceleration": 2.0557543223276298e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.976550371793564e-06, + "observation_loss": 4.6716972974536475e-06, + "chamfer": 3.91121102438774e-06, + "track": 7.604863299093267e-07, + "acceleration": 3.0485298907478864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.68948928755708e-06, + "observation_loss": 4.49460412710323e-06, + "chamfer": 3.7633544707205147e-06, + "track": 7.312494858524587e-07, + "acceleration": 1.9488520308641455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.689916750066914e-06, + "observation_loss": 4.466645805223379e-06, + "chamfer": 3.7362920011219103e-06, + "track": 7.303540314751444e-07, + "acceleration": 2.232709590543891e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.708384494733764e-06, + "observation_loss": 4.432766672834987e-06, + "chamfer": 3.706674306158675e-06, + "track": 7.260924803631497e-07, + "acceleration": 2.7561785032048647e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.6477293835778255e-06, + "observation_loss": 4.355222699814476e-06, + "chamfer": 3.6429464671527967e-06, + "track": 7.122764600353548e-07, + "acceleration": 2.9250679745018715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.568290478346171e-06, + "observation_loss": 4.3219611143285874e-06, + "chamfer": 3.6206301956553943e-06, + "track": 7.013307481429365e-07, + "acceleration": 2.46329335595874e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.552838163363049e-06, + "observation_loss": 4.309535142965615e-06, + "chamfer": 3.607548251238768e-06, + "track": 7.019868348834279e-07, + "acceleration": 2.4330284986717743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.555874511424918e-06, + "observation_loss": 4.2969513742718846e-06, + "chamfer": 3.582197905416251e-06, + "track": 7.147534688556334e-07, + "acceleration": 2.5892302346619545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.722366156784119e-06, + "observation_loss": 4.427649855642812e-06, + "chamfer": 3.6708022435050225e-06, + "track": 7.568474984509521e-07, + "acceleration": 2.947162442978879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.197187419980764e-06, + "observation_loss": 4.793696007254766e-06, + "chamfer": 3.946230663132155e-06, + "track": 8.474652304357733e-07, + "acceleration": 4.0349158325625467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.323957338987384e-06, + "observation_loss": 5.059789600636577e-06, + "chamfer": 4.151271241426002e-06, + "track": 9.085184160539939e-07, + "acceleration": 2.6416793730277277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.5611139941902366e-06, + "observation_loss": 5.092368155601434e-06, + "chamfer": 4.182166321697878e-06, + "track": 9.10201720216719e-07, + "acceleration": 4.687458101670927e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.327502549334895e-06, + "observation_loss": 5.080917617306113e-06, + "chamfer": 4.18147510572453e-06, + "track": 8.99442511581583e-07, + "acceleration": 2.465847330768156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.44811928193667e-06, + "observation_loss": 5.1491351769072935e-06, + "chamfer": 4.242319391778437e-06, + "track": 9.068158988156938e-07, + "acceleration": 2.9898413345108565e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.550477453653002e-06, + "observation_loss": 5.2884920478390995e-06, + "chamfer": 4.352511950855842e-06, + "track": 9.359800401398388e-07, + "acceleration": 2.619854910790309e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.685135420208098e-06, + "observation_loss": 5.471586518979166e-06, + "chamfer": 4.496551355259726e-06, + "track": 9.750350500326022e-07, + "acceleration": 2.135487591203855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.906695150770247e-06, + "observation_loss": 5.6953122111735865e-06, + "chamfer": 4.659635123971384e-06, + "track": 1.0356770872022025e-06, + "acceleration": 2.1138298222922458e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 5.948287707724376e-06, + "observation_loss": 5.774822966486681e-06, + "chamfer": 4.71774956167792e-06, + "track": 1.0570734048087616e-06, + "acceleration": 1.734646559725661e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.0224028857192025e-06, + "observation_loss": 5.8917094065691344e-06, + "chamfer": 4.792757408722537e-06, + "track": 1.0989521115334355e-06, + "acceleration": 1.3069362125861517e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.260097961785505e-06, + "observation_loss": 6.163195394037757e-06, + "chamfer": 4.990062279830454e-06, + "track": 1.1731331142073032e-06, + "acceleration": 9.690270275086732e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.5692806856532115e-06, + "observation_loss": 6.278798082348658e-06, + "chamfer": 5.089306796435267e-06, + "track": 1.1894913996002288e-06, + "acceleration": 2.904824611960066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.188501174619887e-06, + "observation_loss": 6.006889634591062e-06, + "chamfer": 4.895032361673657e-06, + "track": 1.1118570455437293e-06, + "acceleration": 1.816116395048084e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8393839026393835e-06, + "observation_loss": 5.670717200700892e-06, + "chamfer": 4.635121058527147e-06, + "track": 1.0355962558605825e-06, + "acceleration": 1.6866665930592717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.979984507575864e-06, + "observation_loss": 5.68565428693546e-06, + "chamfer": 4.644182354240911e-06, + "track": 1.0414719326945487e-06, + "acceleration": 2.94330277483823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.2294016061059665e-06, + "observation_loss": 5.977519776934059e-06, + "chamfer": 4.856329724134412e-06, + "track": 1.1211900527996477e-06, + "acceleration": 2.51881886015326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.2859890022082254e-06, + "observation_loss": 6.164341812109342e-06, + "chamfer": 4.982126029062783e-06, + "track": 1.1822157830465585e-06, + "acceleration": 1.2164736062914017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.381577350111911e-06, + "observation_loss": 6.346888767438941e-06, + "chamfer": 5.1150541366951074e-06, + "track": 1.2318346307438333e-06, + "acceleration": 3.4688568462115654e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.514335382235004e-06, + "observation_loss": 6.42753047941369e-06, + "chamfer": 5.172099008632358e-06, + "track": 1.2554315844681696e-06, + "acceleration": 8.680504492986074e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.622001819778234e-06, + "observation_loss": 6.470707376138307e-06, + "chamfer": 5.203788987273583e-06, + "track": 1.2669181614910485e-06, + "acceleration": 1.5129450048334547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.800887149438495e-06, + "observation_loss": 6.60080831949017e-06, + "chamfer": 5.305165814206703e-06, + "track": 1.2956426189703052e-06, + "acceleration": 2.0007861678550398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.228684808069374e-06, + "observation_loss": 7.066626949381316e-06, + "chamfer": 5.651323590427637e-06, + "track": 1.4153034726405167e-06, + "acceleration": 1.6205765973609232e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.835065844119526e-06, + "observation_loss": 7.701086360611953e-06, + "chamfer": 6.096322522353148e-06, + "track": 1.6047633835114539e-06, + "acceleration": 1.339794692967189e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.39210315461969e-06, + "observation_loss": 8.108477231871802e-06, + "chamfer": 6.385268079611706e-06, + "track": 1.7232091522600967e-06, + "acceleration": 2.8362617854327254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.205970516428351e-06, + "observation_loss": 7.959009963087738e-06, + "chamfer": 6.2868994064047e-06, + "track": 1.6721102156225243e-06, + "acceleration": 2.469604396537761e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.929957064334303e-06, + "observation_loss": 7.684878255531657e-06, + "chamfer": 6.1023970374662895e-06, + "track": 1.5824808770048548e-06, + "acceleration": 2.450791214414494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.52231790102087e-06, + "observation_loss": 7.444061793648871e-06, + "chamfer": 5.926378435106017e-06, + "track": 1.5176834722296917e-06, + "acceleration": 7.82563347456744e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.292891496035736e-06, + "observation_loss": 7.23902940080734e-06, + "chamfer": 5.77271885049413e-06, + "track": 1.4663107776868856e-06, + "acceleration": 5.386208101754164e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.27398492017528e-06, + "observation_loss": 7.21070728104678e-06, + "chamfer": 5.747461273131194e-06, + "track": 1.4632458942287485e-06, + "acceleration": 6.327751123080816e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.3335636443516705e-06, + "observation_loss": 7.250352155097062e-06, + "chamfer": 5.769037215941353e-06, + "track": 1.4813148254688713e-06, + "acceleration": 8.321128319721538e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.350369287451031e-06, + "observation_loss": 7.307089617825113e-06, + "chamfer": 5.808224159409292e-06, + "track": 1.4988652310421458e-06, + "acceleration": 4.327982594531932e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.560570793430088e-06, + "observation_loss": 7.361068583122687e-06, + "chamfer": 5.833706836710917e-06, + "track": 1.5273616327249329e-06, + "acceleration": 1.9950238083765726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.874800758145284e-06, + "observation_loss": 7.419701432809234e-06, + "chamfer": 5.879904165340122e-06, + "track": 1.5397970400954364e-06, + "acceleration": 4.5509943902288796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.46214152261382e-06, + "observation_loss": 7.534485121141188e-06, + "chamfer": 5.9508315644052345e-06, + "track": 1.5836533293622779e-06, + "acceleration": 9.276564583160507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.008142114907969e-06, + "observation_loss": 7.671776984352618e-06, + "chamfer": 6.05971126788063e-06, + "track": 1.6120659438456642e-06, + "acceleration": 1.336365244242188e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.597546184319071e-06, + "observation_loss": 7.814916898496449e-06, + "chamfer": 6.170534561533714e-06, + "track": 1.6443819959022221e-06, + "acceleration": 7.826293995094602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.465346581942867e-06, + "observation_loss": 8.141360922309104e-06, + "chamfer": 6.4087194004969206e-06, + "track": 1.732641408125346e-06, + "acceleration": 3.23985517525216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.85023382579675e-06, + "observation_loss": 8.600913133705035e-06, + "chamfer": 6.723641490680166e-06, + "track": 1.8772718703985447e-06, + "acceleration": 2.49320720513424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.252189556718804e-06, + "observation_loss": 9.145805051957723e-06, + "chamfer": 7.093649855960393e-06, + "track": 2.052154968623654e-06, + "acceleration": 1.0638410685714916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.51450510910945e-06, + "observation_loss": 9.43346822168678e-06, + "chamfer": 7.285871561180102e-06, + "track": 2.1475964331330033e-06, + "acceleration": 8.103722137775549e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.893503374769352e-06, + "observation_loss": 9.632519322622102e-06, + "chamfer": 7.419383564410964e-06, + "track": 2.2131355308374623e-06, + "acceleration": 2.609838531952846e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.984021744458005e-06, + "observation_loss": 9.824964763538446e-06, + "chamfer": 7.525356522819493e-06, + "track": 2.299608013345278e-06, + "acceleration": 1.590566540699001e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0025654773926362e-05, + "observation_loss": 9.917216630128678e-06, + "chamfer": 7.57331463319133e-06, + "track": 2.343901769563672e-06, + "acceleration": 1.0843793063486373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0133814612345304e-05, + "observation_loss": 9.820718332775868e-06, + "chamfer": 7.509987426601583e-06, + "track": 2.3107309061742853e-06, + "acceleration": 3.130965069431113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0368852599640377e-05, + "observation_loss": 9.583680366631597e-06, + "chamfer": 7.3692472142283805e-06, + "track": 2.214432697655866e-06, + "acceleration": 7.851722330087796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.977859008358791e-06, + "observation_loss": 9.504279660177417e-06, + "chamfer": 7.307993200811325e-06, + "track": 2.1962864593660925e-06, + "acceleration": 4.7357895027744235e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.651221262174658e-06, + "observation_loss": 9.45148894970771e-06, + "chamfer": 7.271914455486694e-06, + "track": 2.1795742668473395e-06, + "acceleration": 1.9973263931660767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.0435966032673605e-05, + "observation_loss": 9.328195119451266e-06, + "chamfer": 7.187997653090861e-06, + "track": 2.1401972389867296e-06, + "acceleration": 1.107770913222339e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.3571715498983394e-05, + "observation_loss": 9.23762399906991e-06, + "chamfer": 7.095795353961876e-06, + "track": 2.141828645108035e-06, + "acceleration": 4.334091499913484e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2847568541474175e-05, + "observation_loss": 9.555245014780667e-06, + "chamfer": 7.322774308704538e-06, + "track": 2.232470478702453e-06, + "acceleration": 3.2923237540671835e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1781621651607566e-05, + "observation_loss": 9.779656465980224e-06, + "chamfer": 7.465746421075892e-06, + "track": 2.313910272278008e-06, + "acceleration": 2.0019651856273413e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0617606676532887e-05, + "observation_loss": 9.66701190918684e-06, + "chamfer": 7.3826927291520406e-06, + "track": 2.2843196347821504e-06, + "acceleration": 9.505947673460469e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0213583664153703e-05, + "observation_loss": 9.789673640625551e-06, + "chamfer": 7.462636403943179e-06, + "track": 2.3270374640560476e-06, + "acceleration": 4.239103077452455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.024875837174477e-05, + "observation_loss": 9.971325198421255e-06, + "chamfer": 7.566639851575019e-06, + "track": 2.404684892098885e-06, + "acceleration": 2.774328038412932e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0405236025690101e-05, + "observation_loss": 1.0191399269388057e-05, + "chamfer": 7.681347597099375e-06, + "track": 2.5100518996623578e-06, + "acceleration": 2.138366710369155e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0678232683858369e-05, + "observation_loss": 1.042250278260326e-05, + "chamfer": 7.801561878295615e-06, + "track": 2.6209406769339694e-06, + "acceleration": 2.5573012862878386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0847635167010594e-05, + "observation_loss": 1.0721192666096613e-05, + "chamfer": 7.992292921699118e-06, + "track": 2.7288999717711704e-06, + "acceleration": 1.2644233038372477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1187202289875131e-05, + "observation_loss": 1.1076926057285164e-05, + "chamfer": 8.22724905447103e-06, + "track": 2.8496767754404573e-06, + "acceleration": 1.1027615443026662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1501030712679494e-05, + "observation_loss": 1.1338701369822957e-05, + "chamfer": 8.399842954531778e-06, + "track": 2.93885887003853e-06, + "acceleration": 1.6232915811542625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1596807780733798e-05, + "observation_loss": 1.1442201866884716e-05, + "chamfer": 8.452621841570362e-06, + "track": 2.9895795705670025e-06, + "acceleration": 1.5460561542113282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1673645531118382e-05, + "observation_loss": 1.1523027751536574e-05, + "chamfer": 8.504003744747024e-06, + "track": 3.0190242341632256e-06, + "acceleration": 1.5061793590120942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1766420357162133e-05, + "observation_loss": 1.1599149729590863e-05, + "chamfer": 8.53783876664238e-06, + "track": 3.0613105082011316e-06, + "acceleration": 1.6727061336041515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1733450264728162e-05, + "observation_loss": 1.1619607903412543e-05, + "chamfer": 8.539819646102842e-06, + "track": 3.079788712057052e-06, + "acceleration": 1.1384271658698708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1898487173311878e-05, + "observation_loss": 1.1632117093540728e-05, + "chamfer": 8.549923222744837e-06, + "track": 3.0821938707958907e-06, + "acceleration": 2.6636965344550845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1840882507385686e-05, + "observation_loss": 1.1704728422046173e-05, + "chamfer": 8.585461728216615e-06, + "track": 3.1192669212032342e-06, + "acceleration": 1.3615397165267495e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1875784366566222e-05, + "observation_loss": 1.1783836271206383e-05, + "chamfer": 8.618268111604266e-06, + "track": 3.1655679322284414e-06, + "acceleration": 9.19483795769338e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1940291187784169e-05, + "observation_loss": 1.184578832180705e-05, + "chamfer": 8.652184988022782e-06, + "track": 3.193603788531618e-06, + "acceleration": 9.450279492284608e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.2015691936539952e-05, + "observation_loss": 1.193231491924962e-05, + "chamfer": 8.696223630977329e-06, + "track": 3.236091515645967e-06, + "acceleration": 8.33774222996908e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1982009709754493e-05, + "observation_loss": 1.1882530088769272e-05, + "chamfer": 8.668875125295017e-06, + "track": 3.2136551908479305e-06, + "acceleration": 9.947962809064848e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1773311598517466e-05, + "observation_loss": 1.1701575203915127e-05, + "chamfer": 8.560562491766177e-06, + "track": 3.1410122574015986e-06, + "acceleration": 7.173669303028873e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.360148730920022e-06, + "chamfer_mean": 5.7241353251432274e-06, + "track_mean": 1.5815075554333664e-06, + "acceleration_mean": 1.0545058160375358e-06, + "observation_score": 7.305642912551018e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4298854530006793 + }, + "score_arrays_file": "pass_scores/pass_end_0281.npz", + "score_arrays_sha256": "a3d30afe79fc96d8caaed564c66c16ecd795e42e6fc372e69f88c4e2d8bdd96e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0282.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0282.json new file mode 100644 index 0000000000000000000000000000000000000000..9091623fb83c65d9260a60c1859a1127a065cad0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0282.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27072, + "completed_passes": 282, + "snapshot": "pass_end_0282", + "candidate": true, + "snapshot_arrays_sha256": "16f7c4e1b84f75736bed1a26309ded09844781d4b57de17b2425298eba694305", + "score": 7.301599685168488e-06, + "score_result": { + "score": 7.301599685168488e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.876570079024532e-06, + 3.1621884772903286e-06, + 3.319378038213472e-06, + 3.7521126614592504e-06, + 4.281638666725485e-06, + 4.488388640311314e-06, + 4.259720299160108e-06, + 4.137014911975712e-06, + 4.073348463862203e-06, + 4.180560608801898e-06, + 4.554548468149733e-06, + 5.0097819439542945e-06, + 5.3088915592525154e-06, + 5.5107911975937895e-06, + 5.500696715898812e-06, + 5.3944486353429966e-06, + 5.049894298281288e-06, + 4.669275313062826e-06, + 4.491788786253892e-06, + 4.464086032385239e-06, + 4.429458385857288e-06, + 4.350842573330738e-06, + 4.317048933444312e-06, + 4.305085894884542e-06, + 4.294649443181697e-06, + 4.425031875143759e-06, + 4.793794687429909e-06, + 5.060445801063906e-06, + 5.091936145618092e-06, + 5.078407866676571e-06, + 5.148367563378997e-06, + 5.289055479806848e-06, + 5.472733846545452e-06, + 5.698353106708964e-06, + 5.780251285614213e-06, + 5.897385563002899e-06, + 6.167545052448986e-06, + 6.2811022871755995e-06, + 6.00622206547996e-06, + 5.667670393449953e-06, + 5.679926289303694e-06, + 5.96961990595446e-06, + 6.1568011915369425e-06, + 6.339713308989303e-06, + 6.420466888812371e-06, + 6.464041689469013e-06, + 6.594690148631344e-06, + 7.060340522002662e-06, + 7.693906809436157e-06, + 8.10117126093246e-06, + 7.952179657877423e-06, + 7.678828296775464e-06, + 7.4392719398019835e-06, + 7.235532393679023e-06, + 7.2076604737958405e-06, + 7.247348094097106e-06, + 7.304379778361181e-06, + 7.3588435043348e-06, + 7.417808319587493e-06, + 7.532851668656804e-06, + 7.67053097661119e-06, + 7.813760930730496e-06, + 8.140911631926429e-06, + 8.60158252180554e-06, + 9.147600394499023e-06, + 9.436322216060944e-06, + 9.63583715929417e-06, + 9.828782822296489e-06, + 9.92167588265147e-06, + 9.825064807955641e-06, + 9.587740350980312e-06, + 9.507748472969979e-06, + 9.454532118979841e-06, + 9.328139640274458e-06, + 9.239140126737766e-06, + 9.551406947139185e-06, + 9.778144885785878e-06, + 9.662863703852054e-06, + 9.78655953076668e-06, + 9.964704076992348e-06, + 1.018226976157166e-05, + 1.0410425602458417e-05, + 1.0707379260566086e-05, + 1.1061548320867587e-05, + 1.1323116268613376e-05, + 1.1424990589148365e-05, + 1.1506602277222555e-05, + 1.1582349543459713e-05, + 1.16023493319517e-05, + 1.161430736829061e-05, + 1.1686357538565062e-05, + 1.1765765520976856e-05, + 1.1828619790321682e-05, + 1.1914607966900803e-05, + 1.1868589353980497e-05, + 1.1695347893692087e-05 + ] + ], + "episode_mean_losses": [ + 7.301599685168488e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.876570079024532e-06, + "observation_loss": 2.876570079024532e-06, + "chamfer": 2.4403232146141818e-06, + "track": 4.3624692125376896e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.154951238888316e-05, + "observation_loss": 3.1621884772903286e-06, + "chamfer": 2.6746020012069494e-06, + "track": 4.87586589770217e-07, + "acceleration": 3.838732300209813e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3603202862432227e-05, + "observation_loss": 3.319378038213472e-06, + "chamfer": 2.809767011058284e-06, + "track": 5.096110839986068e-07, + "acceleration": 2.028382550633978e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0290030331816524e-05, + "observation_loss": 3.7521126614592504e-06, + "chamfer": 3.1636739095119992e-06, + "track": 5.884386951038323e-07, + "acceleration": 6.537917215609923e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.4537152866250835e-06, + "observation_loss": 4.281638666725485e-06, + "chamfer": 3.5903146908822237e-06, + "track": 6.913238621564233e-07, + "acceleration": 2.1720763925259234e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.750423042627517e-06, + "observation_loss": 4.488388640311314e-06, + "chamfer": 3.7551608329522423e-06, + "track": 7.332276936722337e-07, + "acceleration": 1.2620344023162033e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 5.0052758524543606e-06, + "observation_loss": 4.259720299160108e-06, + "chamfer": 3.5693744848686038e-06, + "track": 6.903456437612476e-07, + "acceleration": 7.455554964508337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.64147342427168e-06, + "observation_loss": 4.137014911975712e-06, + "chamfer": 3.4720328585535754e-06, + "track": 6.64982167108974e-07, + "acceleration": 5.0445845545255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.528866156761069e-06, + "observation_loss": 4.073348463862203e-06, + "chamfer": 3.4231757126690354e-06, + "track": 6.501726943497488e-07, + "acceleration": 4.555177781639941e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.4965368033444975e-06, + "observation_loss": 4.180560608801898e-06, + "chamfer": 3.5114355796395103e-06, + "track": 6.691251428492251e-07, + "acceleration": 3.1597610927747155e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.681042355514364e-06, + "observation_loss": 4.554548468149733e-06, + "chamfer": 3.815406216745032e-06, + "track": 7.391422514047008e-07, + "acceleration": 1.2649380209950323e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.09491019329289e-06, + "observation_loss": 5.0097819439542945e-06, + "chamfer": 4.180230916972505e-06, + "track": 8.295509701383708e-07, + "acceleration": 8.512827776030463e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.393399078457151e-06, + "observation_loss": 5.3088915592525154e-06, + "chamfer": 4.425870429258794e-06, + "track": 8.830211299937218e-07, + "acceleration": 8.450747657207103e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.612042969005415e-06, + "observation_loss": 5.5107911975937895e-06, + "chamfer": 4.597475708578713e-06, + "track": 9.133153753282386e-07, + "acceleration": 1.0125175720077095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.558956672757631e-06, + "observation_loss": 5.500696715898812e-06, + "chamfer": 4.592575805872912e-06, + "track": 9.081207963390625e-07, + "acceleration": 5.825978632856277e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.51327411812963e-06, + "observation_loss": 5.3944486353429966e-06, + "chamfer": 4.505875494942302e-06, + "track": 8.885729130270192e-07, + "acceleration": 1.1882556805176137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.25526093042572e-06, + "observation_loss": 5.049894298281288e-06, + "chamfer": 4.223858923069201e-06, + "track": 8.260355457423429e-07, + "acceleration": 2.0536667477699666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.973552677256521e-06, + "observation_loss": 4.669275313062826e-06, + "chamfer": 3.909245151589857e-06, + "track": 7.600303320032253e-07, + "acceleration": 3.0427744945882296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.685094609158114e-06, + "observation_loss": 4.491788786253892e-06, + "chamfer": 3.761030257010134e-06, + "track": 7.307584724003391e-07, + "acceleration": 1.9330586553678586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.685949988925131e-06, + "observation_loss": 4.464086032385239e-06, + "chamfer": 3.7341765164455865e-06, + "track": 7.299095159396529e-07, + "acceleration": 2.2186402759416524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.704693765233969e-06, + "observation_loss": 4.429458385857288e-06, + "chamfer": 3.7039449125586543e-06, + "track": 7.255136438288901e-07, + "acceleration": 2.752353509549721e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.641690793505404e-06, + "observation_loss": 4.350842573330738e-06, + "chamfer": 3.6393482787389075e-06, + "track": 7.114941240615735e-07, + "acceleration": 2.9084836228321365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.564316895994125e-06, + "observation_loss": 4.317048933444312e-06, + "chamfer": 3.616620006141602e-06, + "track": 7.004289273027098e-07, + "acceleration": 2.4726801939323195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.549407549347961e-06, + "observation_loss": 4.305085894884542e-06, + "chamfer": 3.6038820780959213e-06, + "track": 7.012037599452015e-07, + "acceleration": 2.443217681502574e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.5576098273159005e-06, + "observation_loss": 4.294649443181697e-06, + "chamfer": 3.580236125344527e-06, + "track": 7.144135452108458e-07, + "acceleration": 2.6296061150787864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.7206376621034e-06, + "observation_loss": 4.425031875143759e-06, + "chamfer": 3.668641738840961e-06, + "track": 7.563899089291226e-07, + "acceleration": 2.9560575853793125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.199895440455293e-06, + "observation_loss": 4.793794687429909e-06, + "chamfer": 3.946198830817593e-06, + "track": 8.4759562923864e-07, + "acceleration": 4.0610061091683747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.3296707847039215e-06, + "observation_loss": 5.060445801063906e-06, + "chamfer": 4.151676876062993e-06, + "track": 9.087689250009134e-07, + "acceleration": 2.6922492679659626e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.559386409004219e-06, + "observation_loss": 5.091936145618092e-06, + "chamfer": 4.181712029094342e-06, + "track": 9.10224173367169e-07, + "acceleration": 4.674502633861266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.323030563886277e-06, + "observation_loss": 5.078407866676571e-06, + "chamfer": 4.179485586064402e-06, + "track": 8.989223942990066e-07, + "acceleration": 2.446225551011594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.446162958833156e-06, + "observation_loss": 5.148367563378997e-06, + "chamfer": 4.241825081408024e-06, + "track": 9.06542595657811e-07, + "acceleration": 2.977952817673213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.556440555665176e-06, + "observation_loss": 5.289055479806848e-06, + "chamfer": 4.353128588263644e-06, + "track": 9.359270620734605e-07, + "acceleration": 2.6738513270174735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.69648364034947e-06, + "observation_loss": 5.472733846545452e-06, + "chamfer": 4.4976941353525035e-06, + "track": 9.750398248797865e-07, + "acceleration": 2.2374972274974425e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.926208359596785e-06, + "observation_loss": 5.698353106708964e-06, + "chamfer": 4.662379524233984e-06, + "track": 1.0359736961618182e-06, + "acceleration": 2.2785519604440196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 5.963028797850711e-06, + "observation_loss": 5.780251285614213e-06, + "chamfer": 4.722257926914608e-06, + "track": 1.0579933586996049e-06, + "acceleration": 1.8277729907367757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.035902970324969e-06, + "observation_loss": 5.897385563002899e-06, + "chamfer": 4.7972762331482954e-06, + "track": 1.1001095572282793e-06, + "acceleration": 1.385175778523262e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.272297923715087e-06, + "observation_loss": 6.167545052448986e-06, + "chamfer": 4.9934046728594694e-06, + "track": 1.1741403795895167e-06, + "acceleration": 1.0475304179635714e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.571597168658627e-06, + "observation_loss": 6.2811022871755995e-06, + "chamfer": 5.090939339424949e-06, + "track": 1.1901629477506503e-06, + "acceleration": 2.9049473937448056e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.189231498865411e-06, + "observation_loss": 6.00622206547996e-06, + "chamfer": 4.894383437203942e-06, + "track": 1.1118385145891807e-06, + "acceleration": 1.830094475963051e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.834155672346242e-06, + "observation_loss": 5.667670393449953e-06, + "chamfer": 4.632545824279077e-06, + "track": 1.0351246828577132e-06, + "acceleration": 1.664851509985965e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.971805876470171e-06, + "observation_loss": 5.679926289303694e-06, + "chamfer": 4.639500275516184e-06, + "track": 1.0404262411611853e-06, + "acceleration": 2.91879786118443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.220260274858447e-06, + "observation_loss": 5.96961990595446e-06, + "chamfer": 4.850027380598476e-06, + "track": 1.1195925253559835e-06, + "acceleration": 2.5064039732569654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.278688033489743e-06, + "observation_loss": 6.1568011915369425e-06, + "chamfer": 4.976162927050609e-06, + "track": 1.1806381507994956e-06, + "acceleration": 1.218869840613479e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.374088115990162e-06, + "observation_loss": 6.339713308989303e-06, + "chamfer": 5.109387984703062e-06, + "track": 1.2303254379730788e-06, + "acceleration": 3.4374970425687934e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.50789024803089e-06, + "observation_loss": 6.420466888812371e-06, + "chamfer": 5.1665620048879646e-06, + "track": 1.2539051112980815e-06, + "acceleration": 8.742333079680975e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.615785878238967e-06, + "observation_loss": 6.464041689469013e-06, + "chamfer": 5.19856530445395e-06, + "track": 1.265476385015063e-06, + "acceleration": 1.5174413192653446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.79553431837121e-06, + "observation_loss": 6.594690148631344e-06, + "chamfer": 5.300434168020729e-06, + "track": 1.2942560942974524e-06, + "acceleration": 2.0084431184841378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.222809927043272e-06, + "observation_loss": 7.060340522002662e-06, + "chamfer": 5.646574209094979e-06, + "track": 1.4137663129076827e-06, + "acceleration": 1.624695045165936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.828095476725139e-06, + "observation_loss": 7.693906809436157e-06, + "chamfer": 6.090962415328249e-06, + "track": 1.6029447351684212e-06, + "acceleration": 1.3418876676496438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.386012268601917e-06, + "observation_loss": 8.10117126093246e-06, + "chamfer": 6.380055310728494e-06, + "track": 1.7211161775776418e-06, + "acceleration": 2.8484075187407143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.2010710684699e-06, + "observation_loss": 7.952179657877423e-06, + "chamfer": 6.282086360442918e-06, + "track": 1.670093752181856e-06, + "acceleration": 2.4889138217076834e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.925042154965922e-06, + "observation_loss": 7.678828296775464e-06, + "chamfer": 6.0979709815001115e-06, + "track": 1.5808573152753524e-06, + "acceleration": 2.462138866121677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.518187885580119e-06, + "observation_loss": 7.4392719398019835e-06, + "chamfer": 5.922729087615153e-06, + "track": 1.5165428521868307e-06, + "acceleration": 7.891610920296444e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.289313543878961e-06, + "observation_loss": 7.235532393679023e-06, + "chamfer": 5.77005130253383e-06, + "track": 1.465481204832031e-06, + "acceleration": 5.378137402090033e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.270786227309145e-06, + "observation_loss": 7.2076604737958405e-06, + "chamfer": 5.745122052758234e-06, + "track": 1.4625385347244446e-06, + "acceleration": 6.312573219702244e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.330543212447083e-06, + "observation_loss": 7.247348094097106e-06, + "chamfer": 5.766677531937603e-06, + "track": 1.4806704484726652e-06, + "acceleration": 8.319525335309663e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.347704013227485e-06, + "observation_loss": 7.304379778361181e-06, + "chamfer": 5.806097306049196e-06, + "track": 1.498282358625147e-06, + "acceleration": 4.3324224208163287e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.55776591176982e-06, + "observation_loss": 7.3588435043348e-06, + "chamfer": 5.831925136590144e-06, + "track": 1.5269185951183317e-06, + "acceleration": 1.989225637544223e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.87355747888796e-06, + "observation_loss": 7.417808319587493e-06, + "chamfer": 5.878366209799424e-06, + "track": 1.5394421097880695e-06, + "acceleration": 4.557496140478179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.463657650281675e-06, + "observation_loss": 7.532851668656804e-06, + "chamfer": 5.949525530013489e-06, + "track": 1.5833260249564773e-06, + "acceleration": 9.308060953117092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.012468581204303e-06, + "observation_loss": 7.67053097661119e-06, + "chamfer": 6.05872128289775e-06, + "track": 1.6118100347739528e-06, + "acceleration": 1.341938059340464e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.599485227023251e-06, + "observation_loss": 7.813760930730496e-06, + "chamfer": 6.169593234517379e-06, + "track": 1.6441675825262791e-06, + "acceleration": 7.857244099795935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.466321560263168e-06, + "observation_loss": 8.140911631926429e-06, + "chamfer": 6.4083310462592635e-06, + "track": 1.7325806993540027e-06, + "acceleration": 3.254097009630641e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.851860911818221e-06, + "observation_loss": 8.60158252180554e-06, + "chamfer": 6.7241508077131584e-06, + "track": 1.8774320551528945e-06, + "acceleration": 2.502784184343909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.254781616618857e-06, + "observation_loss": 9.147600394499023e-06, + "chamfer": 7.094967259035911e-06, + "track": 2.052633135463111e-06, + "acceleration": 1.071808313213296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.517571015749127e-06, + "observation_loss": 9.436322216060944e-06, + "chamfer": 7.28799977878225e-06, + "track": 2.1483219825313427e-06, + "acceleration": 8.124889205873842e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.897527888824698e-06, + "observation_loss": 9.63583715929417e-06, + "chamfer": 7.421930149575928e-06, + "track": 2.2139067823445657e-06, + "acceleration": 2.6169030320488673e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.988342753786128e-06, + "observation_loss": 9.828782822296489e-06, + "chamfer": 7.528251444455236e-06, + "track": 2.3005316052149283e-06, + "acceleration": 1.5955961885083525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0030401426774915e-05, + "observation_loss": 9.92167588265147e-06, + "chamfer": 7.576815278298454e-06, + "track": 2.3448608317266917e-06, + "acceleration": 1.0872597044908616e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0138837751583196e-05, + "observation_loss": 9.825064807955641e-06, + "chamfer": 7.51343804950011e-06, + "track": 2.311626985829207e-06, + "acceleration": 3.1377314257952094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0375348210800439e-05, + "observation_loss": 9.587740350980312e-06, + "chamfer": 7.37231994207832e-06, + "track": 2.2154204089019913e-06, + "acceleration": 7.876082008806407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.982491064874921e-06, + "observation_loss": 9.507748472969979e-06, + "chamfer": 7.310635282919975e-06, + "track": 2.197113644797355e-06, + "acceleration": 4.747423645312665e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.654660061642062e-06, + "observation_loss": 9.454532118979841e-06, + "chamfer": 7.274183644767618e-06, + "track": 2.1803480194648728e-06, + "acceleration": 2.001279852947846e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.0332350939279422e-05, + "observation_loss": 9.328139640274458e-06, + "chamfer": 7.187787559814751e-06, + "track": 2.1403516257123556e-06, + "acceleration": 1.0042117537523154e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.316648194915615e-05, + "observation_loss": 9.239140126737766e-06, + "chamfer": 7.097499292285647e-06, + "track": 2.1416406070784433e-06, + "acceleration": 3.927341822418384e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.273211273655761e-05, + "observation_loss": 9.551406947139185e-06, + "chamfer": 7.3196893026761245e-06, + "track": 2.231717871836736e-06, + "acceleration": 3.1807053346710745e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1818941857200116e-05, + "observation_loss": 9.778144885785878e-06, + "chamfer": 7.464543614332797e-06, + "track": 2.313601498826756e-06, + "acceleration": 2.040797426161589e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0629478310875129e-05, + "observation_loss": 9.662863703852054e-06, + "chamfer": 7.379820090136491e-06, + "track": 2.283043613715563e-06, + "acceleration": 9.666143796493998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0204680620518047e-05, + "observation_loss": 9.78655953076668e-06, + "chamfer": 7.460256256308639e-06, + "track": 2.3263028197106905e-06, + "acceleration": 4.1812074869085336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0243150427413639e-05, + "observation_loss": 9.964704076992348e-06, + "chamfer": 7.562562586826971e-06, + "track": 2.402141490165377e-06, + "acceleration": 2.784460093607777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0402712177892681e-05, + "observation_loss": 1.018226976157166e-05, + "chamfer": 7.675910637772176e-06, + "track": 2.5063591237994842e-06, + "acceleration": 2.2044270053811488e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0667674359865487e-05, + "observation_loss": 1.0410425602458417e-05, + "chamfer": 7.79435140429996e-06, + "track": 2.6160739707847824e-06, + "acceleration": 2.572489563590352e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0830664905370213e-05, + "observation_loss": 1.0707379260566086e-05, + "chamfer": 7.984121111803688e-06, + "track": 2.7232576940150466e-06, + "acceleration": 1.2328602849720482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1169107892783359e-05, + "observation_loss": 1.1061548320867587e-05, + "chamfer": 8.218232323997654e-06, + "track": 2.8433157694962574e-06, + "acceleration": 1.0755964297004539e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1482189620437566e-05, + "observation_loss": 1.1323116268613376e-05, + "chamfer": 8.390767106902786e-06, + "track": 2.9323487069632392e-06, + "acceleration": 1.5907313866136974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1575582902878523e-05, + "observation_loss": 1.1424990589148365e-05, + "chamfer": 8.442410944553558e-06, + "track": 2.9825791898474563e-06, + "acceleration": 1.5059224267588434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1653999536065385e-05, + "observation_loss": 1.1506602277222555e-05, + "chamfer": 8.494496796629392e-06, + "track": 3.012105253219488e-06, + "acceleration": 1.4739681830633344e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1746091331588104e-05, + "observation_loss": 1.1582349543459713e-05, + "chamfer": 8.528200851287693e-06, + "track": 3.054148919545696e-06, + "acceleration": 1.6374156075471547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.171163694380084e-05, + "observation_loss": 1.16023493319517e-05, + "chamfer": 8.529834303772077e-06, + "track": 3.0725145734322723e-06, + "acceleration": 1.0928793159337147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1877002179971896e-05, + "observation_loss": 1.161430736829061e-05, + "chamfer": 8.539665941498242e-06, + "track": 3.074641199418693e-06, + "acceleration": 2.6269475483786664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1821084626717493e-05, + "observation_loss": 1.1686357538565062e-05, + "chamfer": 8.574754247092642e-06, + "track": 3.1116030640987447e-06, + "acceleration": 1.347267613027725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1857118806801736e-05, + "observation_loss": 1.1765765520976856e-05, + "chamfer": 8.607929885329213e-06, + "track": 3.1578356356476434e-06, + "acceleration": 9.135329293030736e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1923100828425959e-05, + "observation_loss": 1.1828619790321682e-05, + "chamfer": 8.642794455226976e-06, + "track": 3.1858255624683807e-06, + "acceleration": 9.448077520346487e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1998535228485707e-05, + "observation_loss": 1.1914607966900803e-05, + "chamfer": 8.686393812240567e-06, + "track": 3.228213699912885e-06, + "acceleration": 8.392743922058798e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1969337720074691e-05, + "observation_loss": 1.1868589353980497e-05, + "chamfer": 8.661344509164337e-06, + "track": 3.207244617442484e-06, + "acceleration": 1.0074803213910855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1773639926104806e-05, + "observation_loss": 1.1695347893692087e-05, + "chamfer": 8.556950888305437e-06, + "track": 3.138396778012975e-06, + "acceleration": 7.82921958375482e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.350274088779011e-06, + "chamfer_mean": 5.721496099416375e-06, + "track_mean": 1.5801035715412581e-06, + "acceleration_mean": 1.0486744028703754e-06, + "observation_score": 7.301599685168488e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.430493462999948 + }, + "score_arrays_file": "pass_scores/pass_end_0282.npz", + "score_arrays_sha256": "de9c870cced8d8d20b92621868030cb09dbf5a536efe7b51a64fdbac9d8e3abc" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0283.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0283.json new file mode 100644 index 0000000000000000000000000000000000000000..40aeb8266266d8e871f129d25183d07551774577 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0283.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27168, + "completed_passes": 283, + "snapshot": "pass_end_0283", + "candidate": true, + "snapshot_arrays_sha256": "f929f8871dc88a4a37ed43c97f898e71b529868c410cadc4d4d3061b01d5aedb", + "score": 7.296869670862331e-06, + "score_result": { + "score": 7.296869670862331e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8762863166775787e-06, + 3.1619254059478408e-06, + 3.317576556582935e-06, + 3.7502361465158174e-06, + 4.2791721170942765e-06, + 4.486068974074442e-06, + 4.2566539377730805e-06, + 4.132994945393875e-06, + 4.069754595548147e-06, + 4.1769480958464555e-06, + 4.551431175059406e-06, + 5.0072344492946286e-06, + 5.306987077347003e-06, + 5.509378752321936e-06, + 5.499764029082144e-06, + 5.393237188400235e-06, + 5.047990725870477e-06, + 4.666901531891199e-06, + 4.48903301730752e-06, + 4.462033757590689e-06, + 4.4273565436014906e-06, + 4.347914909885731e-06, + 4.313009412726387e-06, + 4.301570697862189e-06, + 4.291987352189608e-06, + 4.422427082317881e-06, + 4.79307709611021e-06, + 5.060438070358941e-06, + 5.0911744438053574e-06, + 5.074895852885675e-06, + 5.145735030964715e-06, + 5.28758937434759e-06, + 5.472521479532588e-06, + 5.7003721849469e-06, + 5.7845827541314065e-06, + 5.901993972656783e-06, + 6.169755124574294e-06, + 6.280122306634439e-06, + 6.002506779623218e-06, + 5.663983301928965e-06, + 5.674994099535979e-06, + 5.962960131000727e-06, + 6.1499640651163645e-06, + 6.333622877718881e-06, + 6.4149398895096965e-06, + 6.459159976657247e-06, + 6.590279554075096e-06, + 7.0565356509177946e-06, + 7.690350685152225e-06, + 8.097032150544692e-06, + 7.947881385916844e-06, + 7.67529218137497e-06, + 7.436601663357578e-06, + 7.2335351433139294e-06, + 7.205630936368834e-06, + 7.244799235195387e-06, + 7.3022779361053836e-06, + 7.3571550274209585e-06, + 7.416402240778552e-06, + 7.532134986831807e-06, + 7.670339982723817e-06, + 7.814132004568819e-06, + 8.142508704622742e-06, + 8.604816684965044e-06, + 9.151843187282793e-06, + 9.441244401386939e-06, + 9.641211363486946e-06, + 9.834490811044816e-06, + 9.92785226117121e-06, + 9.831363058765419e-06, + 9.592869901098311e-06, + 9.512186807114631e-06, + 9.458115528104827e-06, + 9.327214684162755e-06, + 9.238419806933962e-06, + 9.541870895191096e-06, + 9.772254998097196e-06, + 9.654517270973884e-06, + 9.779342690308113e-06, + 9.953294465958606e-06, + 1.0168797416554298e-05, + 1.0394187484052964e-05, + 1.0690059752960224e-05, + 1.1042282494599931e-05, + 1.1303593055345118e-05, + 1.1404029464756604e-05, + 1.1486098628665786e-05, + 1.156143298430834e-05, + 1.158097256848123e-05, + 1.1591985639824998e-05, + 1.1663124496408273e-05, + 1.1742731658159755e-05, + 1.1806207112385891e-05, + 1.1892119800904766e-05, + 1.1847711903101299e-05, + 1.167809205071535e-05 + ] + ], + "episode_mean_losses": [ + 7.296869670862331e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8762863166775787e-06, + "observation_loss": 2.8762863166775787e-06, + "chamfer": 2.4400767415500013e-06, + "track": 4.362096603927057e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1544277337379754e-05, + "observation_loss": 3.1619254059478408e-06, + "chamfer": 2.6743737180368043e-06, + "track": 4.875516310676176e-07, + "acceleration": 3.838235352304764e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.358642450417392e-05, + "observation_loss": 3.317576556582935e-06, + "chamfer": 2.8082667995477095e-06, + "track": 5.093096433483879e-07, + "acceleration": 2.0268847947590984e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0285142707289197e-05, + "observation_loss": 3.7502361465158174e-06, + "chamfer": 3.1621223115507746e-06, + "track": 5.881137781216239e-07, + "acceleration": 6.534906788147055e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.433198450395139e-06, + "observation_loss": 4.2791721170942765e-06, + "chamfer": 3.588295840017963e-06, + "track": 6.908761633894756e-07, + "acceleration": 2.1540263333008625e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.742219855164876e-06, + "observation_loss": 4.486068974074442e-06, + "chamfer": 3.753264536499046e-06, + "track": 7.32804494418815e-07, + "acceleration": 1.2561507674035965e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.99820635013748e-06, + "observation_loss": 4.2566539377730805e-06, + "chamfer": 3.566846999092377e-06, + "track": 6.898071092109603e-07, + "acceleration": 7.415522418341425e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.637868642021203e-06, + "observation_loss": 4.132994945393875e-06, + "chamfer": 3.4687088827922707e-06, + "track": 6.642862331318611e-07, + "acceleration": 5.048738671575848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.5249576032802e-06, + "observation_loss": 4.069754595548147e-06, + "chamfer": 3.420208940951852e-06, + "track": 6.495455977528763e-07, + "acceleration": 4.552029508886335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.49193157692207e-06, + "observation_loss": 4.1769480958464555e-06, + "chamfer": 3.5084310638922034e-06, + "track": 6.685168045805767e-07, + "acceleration": 3.1498333896706754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.67819836558192e-06, + "observation_loss": 4.551431175059406e-06, + "chamfer": 3.8128066535136895e-06, + "track": 7.386246920759731e-07, + "acceleration": 1.267673894744803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.092594619782176e-06, + "observation_loss": 5.0072344492946286e-06, + "chamfer": 4.1781099753279705e-06, + "track": 8.291243034364015e-07, + "acceleration": 8.535997864100864e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.391772901930381e-06, + "observation_loss": 5.306987077347003e-06, + "chamfer": 4.424281996762147e-06, + "track": 8.827051942716935e-07, + "acceleration": 8.478598090277956e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.6111725825758185e-06, + "observation_loss": 5.509378752321936e-06, + "chamfer": 4.5963051888975315e-06, + "track": 9.130735634244047e-07, + "acceleration": 1.0179397236242949e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.558179054787615e-06, + "observation_loss": 5.499764029082144e-06, + "chamfer": 4.591820470523089e-06, + "track": 9.079436722458922e-07, + "acceleration": 5.8415086101604174e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.512270035978872e-06, + "observation_loss": 5.393237188400235e-06, + "chamfer": 4.504896423895843e-06, + "track": 8.883407645043917e-07, + "acceleration": 1.1903301100346653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.253168637864292e-06, + "observation_loss": 5.047990725870477e-06, + "chamfer": 4.222297775413608e-06, + "track": 8.256928367700311e-07, + "acceleration": 2.0517786936125049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.9708705773809925e-06, + "observation_loss": 4.666901531891199e-06, + "chamfer": 3.907317022822099e-06, + "track": 7.595843385388434e-07, + "acceleration": 3.039689033812465e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.6810578169242945e-06, + "observation_loss": 4.48903301730752e-06, + "chamfer": 3.758749471671763e-06, + "track": 7.302837161660136e-07, + "acceleration": 1.9202498435788584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.682947292167228e-06, + "observation_loss": 4.462033757590689e-06, + "chamfer": 3.732468030648306e-06, + "track": 7.295654995687073e-07, + "acceleration": 2.2091343510055594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.702706974057946e-06, + "observation_loss": 4.4273565436014906e-06, + "chamfer": 3.702190269905259e-06, + "track": 7.251661600093939e-07, + "acceleration": 2.7535020308278035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.637341589841526e-06, + "observation_loss": 4.347914909885731e-06, + "chamfer": 3.6369326608109986e-06, + "track": 7.109824196049885e-07, + "acceleration": 2.89426850486052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.562188223644625e-06, + "observation_loss": 4.313009412726387e-06, + "chamfer": 3.6133376397629036e-06, + "track": 6.996716592766461e-07, + "acceleration": 2.4917892460507574e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.5477968342311215e-06, + "observation_loss": 4.301570697862189e-06, + "chamfer": 3.6009682844451163e-06, + "track": 7.006024702604918e-07, + "acceleration": 2.4622619321235106e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.561694822768914e-06, + "observation_loss": 4.291987352189608e-06, + "chamfer": 3.5779701192950597e-06, + "track": 7.140172328945482e-07, + "acceleration": 2.6970738531417737e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.716416242445121e-06, + "observation_loss": 4.422427082317881e-06, + "chamfer": 3.666447810246609e-06, + "track": 7.559791583844344e-07, + "acceleration": 2.939893590792053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.195015546632931e-06, + "observation_loss": 4.79307709611021e-06, + "chamfer": 3.945498519897228e-06, + "track": 8.475785762129817e-07, + "acceleration": 4.0193827999246423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.327126473275712e-06, + "observation_loss": 5.060438070358941e-06, + "chamfer": 4.151487246417673e-06, + "track": 9.08950823941268e-07, + "acceleration": 2.666884597601893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.54982989342534e-06, + "observation_loss": 5.0911744438053574e-06, + "chamfer": 4.18099261878524e-06, + "track": 9.101817681766988e-07, + "acceleration": 4.5865542119827296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.318323019309901e-06, + "observation_loss": 5.074895852885675e-06, + "chamfer": 4.1766879803617485e-06, + "track": 8.982079862107639e-07, + "acceleration": 2.434273369544826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.447222065413371e-06, + "observation_loss": 5.145735030964715e-06, + "chamfer": 4.2398437472002115e-06, + "track": 9.05891226921085e-07, + "acceleration": 3.0148726182233077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.56971872356371e-06, + "observation_loss": 5.28758937434759e-06, + "chamfer": 4.3521326915652025e-06, + "track": 9.354566827823874e-07, + "acceleration": 2.821294060595392e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.7126276260532904e-06, + "observation_loss": 5.472521479532588e-06, + "chamfer": 4.497771442402154e-06, + "track": 9.747501508172718e-07, + "acceleration": 2.4010623178583046e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.953203981334809e-06, + "observation_loss": 5.7003721849469e-06, + "chamfer": 4.664297193812672e-06, + "track": 1.0360748774473905e-06, + "acceleration": 2.5283185323132784e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 5.9833669183717575e-06, + "observation_loss": 5.7845827541314065e-06, + "chamfer": 4.725914095615735e-06, + "track": 1.0586684311419958e-06, + "acceleration": 1.9878396528838493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.053285687812604e-06, + "observation_loss": 5.901993972656783e-06, + "chamfer": 4.800955593964318e-06, + "track": 1.1010382650056272e-06, + "acceleration": 1.5129182884265902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.283230959525099e-06, + "observation_loss": 6.169755124574294e-06, + "chamfer": 4.995145445718663e-06, + "track": 1.1746096788556315e-06, + "acceleration": 1.1347589179422357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.570786354131997e-06, + "observation_loss": 6.280122306634439e-06, + "chamfer": 5.090091690362897e-06, + "track": 1.1900306162715424e-06, + "acceleration": 2.906640474975575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.1876899053459056e-06, + "observation_loss": 6.002506779623218e-06, + "chamfer": 4.891412572760601e-06, + "track": 1.1110944342362927e-06, + "acceleration": 1.851831257226877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.827297627547523e-06, + "observation_loss": 5.663983301928965e-06, + "chamfer": 4.6295308493427e-06, + "track": 1.0344523388994276e-06, + "acceleration": 1.6331414087744633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.9628946473822e-06, + "observation_loss": 5.674994099535979e-06, + "chamfer": 4.635489858628716e-06, + "track": 1.0395041272204253e-06, + "acceleration": 2.8790054784622043e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.211213985807262e-06, + "observation_loss": 5.962960131000727e-06, + "chamfer": 4.844710474571912e-06, + "track": 1.1182498838024912e-06, + "acceleration": 2.4825405375850096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.271563506743405e-06, + "observation_loss": 6.1499640651163645e-06, + "chamfer": 4.970732334186323e-06, + "track": 1.1792318446168792e-06, + "acceleration": 1.215996121572971e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.367750756908208e-06, + "observation_loss": 6.333622877718881e-06, + "chamfer": 5.10455447511049e-06, + "track": 1.2290682889215532e-06, + "acceleration": 3.412775129163492e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.502004907815717e-06, + "observation_loss": 6.4149398895096965e-06, + "chamfer": 5.162183242646279e-06, + "track": 1.2527567605502554e-06, + "acceleration": 8.706483356490935e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.610414402530296e-06, + "observation_loss": 6.459159976657247e-06, + "chamfer": 5.194699042476714e-06, + "track": 1.2644610478673712e-06, + "acceleration": 1.5125446850561275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.789687176933512e-06, + "observation_loss": 6.590279554075096e-06, + "chamfer": 5.297005372995045e-06, + "track": 1.293274067393213e-06, + "acceleration": 1.9940739548474085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.2184147938969545e-06, + "observation_loss": 7.0565356509177946e-06, + "chamfer": 5.643664735544007e-06, + "track": 1.412871029060625e-06, + "acceleration": 1.618790008706128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.82496681495104e-06, + "observation_loss": 7.690350685152225e-06, + "chamfer": 6.088267127779545e-06, + "track": 1.6020834436858422e-06, + "acceleration": 1.3461620085308823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.38168398331618e-06, + "observation_loss": 8.097032150544692e-06, + "chamfer": 6.377059435180854e-06, + "track": 1.7199727153638378e-06, + "acceleration": 2.8465203172345355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.19775686977664e-06, + "observation_loss": 7.947881385916844e-06, + "chamfer": 6.279034096223768e-06, + "track": 1.6688476307535893e-06, + "acceleration": 2.498754270163772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.92239916336257e-06, + "observation_loss": 7.67529218137497e-06, + "chamfer": 6.095381650084164e-06, + "track": 1.5799107586644823e-06, + "acceleration": 2.4710666934879555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.51578772906214e-06, + "observation_loss": 7.436601663357578e-06, + "chamfer": 5.920699095440796e-06, + "track": 1.5159025679167826e-06, + "acceleration": 7.918620781310892e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.287007974809967e-06, + "observation_loss": 7.2335351433139294e-06, + "chamfer": 5.76853290112922e-06, + "track": 1.4650020148110343e-06, + "acceleration": 5.3472888339456404e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.2680450102780014e-06, + "observation_loss": 7.205630936368834e-06, + "chamfer": 5.7435399867245e-06, + "track": 1.4620907222706592e-06, + "acceleration": 6.241400285489362e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.327605089813005e-06, + "observation_loss": 7.244799235195387e-06, + "chamfer": 5.764663455920527e-06, + "track": 1.4801357792748604e-06, + "acceleration": 8.280562724394258e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.346089660131838e-06, + "observation_loss": 7.3022779361053836e-06, + "chamfer": 5.804418833577074e-06, + "track": 1.4978591025283094e-06, + "acceleration": 4.3811510863633885e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.556887339887908e-06, + "observation_loss": 7.3571550274209585e-06, + "chamfer": 5.8305522543378174e-06, + "track": 1.526602773083141e-06, + "acceleration": 1.9973231246694922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.873665708757471e-06, + "observation_loss": 7.416402240778552e-06, + "chamfer": 5.877211606275523e-06, + "track": 1.5391906345030293e-06, + "acceleration": 4.572632406052435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.465533028356731e-06, + "observation_loss": 7.532134986831807e-06, + "chamfer": 5.948919806542108e-06, + "track": 1.583215066602861e-06, + "acceleration": 9.333978141512489e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.015434443426784e-06, + "observation_loss": 7.670339982723817e-06, + "chamfer": 6.0585161918425e-06, + "track": 1.6118233361339662e-06, + "acceleration": 1.3450946880766423e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.601918125350494e-06, + "observation_loss": 7.814132004568819e-06, + "chamfer": 6.169769221742172e-06, + "track": 1.6443625554529717e-06, + "acceleration": 7.877863481553504e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.468590749544092e-06, + "observation_loss": 8.142508704622742e-06, + "chamfer": 6.4094047047547065e-06, + "track": 1.7331039998680353e-06, + "acceleration": 3.260823859818629e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.855306077748537e-06, + "observation_loss": 8.604816684965044e-06, + "chamfer": 6.726416359015275e-06, + "track": 1.8784003259497695e-06, + "acceleration": 2.5048916540981736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.259473699785303e-06, + "observation_loss": 9.151843187282793e-06, + "chamfer": 7.097889010765357e-06, + "track": 2.0539541765174363e-06, + "acceleration": 1.0763043434280917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.52298978518229e-06, + "observation_loss": 9.441244401386939e-06, + "chamfer": 7.291501333384076e-06, + "track": 2.1497435227502137e-06, + "acceleration": 8.174527010851307e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.90431090031052e-06, + "observation_loss": 9.641211363486946e-06, + "chamfer": 7.425807780236937e-06, + "track": 2.2154035832500085e-06, + "acceleration": 2.63099309449899e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.994548236136325e-06, + "observation_loss": 9.834490811044816e-06, + "chamfer": 7.532330528192688e-06, + "track": 2.3021600554784527e-06, + "acceleration": 1.600574393023635e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0036937055701856e-05, + "observation_loss": 9.92785226117121e-06, + "chamfer": 7.5814250521943904e-06, + "track": 2.34642720897682e-06, + "acceleration": 1.0908466663295258e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0144516636501066e-05, + "observation_loss": 9.831363058765419e-06, + "chamfer": 7.518150141549995e-06, + "track": 2.313213144589099e-06, + "acceleration": 3.131532650968438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0379577361163683e-05, + "observation_loss": 9.592869901098311e-06, + "chamfer": 7.376188932539662e-06, + "track": 2.216681195932324e-06, + "acceleration": 7.867070053180214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.986422810470685e-06, + "observation_loss": 9.512186807114631e-06, + "chamfer": 7.314024060178781e-06, + "track": 2.1981629743095255e-06, + "acceleration": 4.7423591809092613e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.658365343057085e-06, + "observation_loss": 9.458115528104827e-06, + "chamfer": 7.2768366408126894e-06, + "track": 2.1812793420394883e-06, + "acceleration": 2.0024984337396745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.0213456334895454e-05, + "observation_loss": 9.327214684162755e-06, + "chamfer": 7.186836228356697e-06, + "track": 2.1403786831797333e-06, + "acceleration": 8.862414233590243e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.2691210940829478e-05, + "observation_loss": 9.238419806933962e-06, + "chamfer": 7.09790083419648e-06, + "track": 2.140518972737482e-06, + "acceleration": 3.4527911338955164e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2609069926838856e-05, + "observation_loss": 9.541870895191096e-06, + "chamfer": 7.312724392249947e-06, + "track": 2.229146275567473e-06, + "acceleration": 3.0671990316477604e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1870733942487277e-05, + "observation_loss": 9.772254998097196e-06, + "chamfer": 7.460366305167554e-06, + "track": 2.311888465555967e-06, + "acceleration": 2.0984791717637563e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0633665624482092e-05, + "observation_loss": 9.654517270973884e-06, + "chamfer": 7.374188044195762e-06, + "track": 2.2803296815254726e-06, + "acceleration": 9.791480124476948e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0194096830673516e-05, + "observation_loss": 9.779342690308113e-06, + "chamfer": 7.4551053330651484e-06, + "track": 2.324237357242964e-06, + "acceleration": 4.147538277265994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0227087841485627e-05, + "observation_loss": 9.953294465958606e-06, + "chamfer": 7.55522114559426e-06, + "track": 2.3980733203643467e-06, + "acceleration": 2.737932618401828e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0390281204308849e-05, + "observation_loss": 1.0168797416554298e-05, + "chamfer": 7.667493264307268e-06, + "track": 2.5013041522470303e-06, + "acceleration": 2.2148387301967887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0646424016158562e-05, + "observation_loss": 1.0394187484052964e-05, + "chamfer": 7.784366971463896e-06, + "track": 2.6098207399627427e-06, + "acceleration": 2.5223667421414575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0803594705066644e-05, + "observation_loss": 1.0690059752960224e-05, + "chamfer": 7.973648280312773e-06, + "track": 2.716411472647451e-06, + "acceleration": 1.1353477447073601e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1142702533106785e-05, + "observation_loss": 1.1042282494599931e-05, + "chamfer": 8.206716302083805e-06, + "track": 2.8355659651424503e-06, + "acceleration": 1.0042022324796562e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1451313184807077e-05, + "observation_loss": 1.1303593055345118e-05, + "chamfer": 8.379101018363144e-06, + "track": 2.9244918096082984e-06, + "acceleration": 1.4772008682939486e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1542430002009496e-05, + "observation_loss": 1.1404029464756604e-05, + "chamfer": 8.429755325778387e-06, + "track": 2.974274138978217e-06, + "acceleration": 1.3840087831340497e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1624914804997388e-05, + "observation_loss": 1.1486098628665786e-05, + "chamfer": 8.482311386615038e-06, + "track": 3.0037874694244238e-06, + "acceleration": 1.3881620475331147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1716681910911575e-05, + "observation_loss": 1.156143298430834e-05, + "chamfer": 8.516044545103796e-06, + "track": 3.0453886665782193e-06, + "acceleration": 1.552490260792183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.167948266811436e-05, + "observation_loss": 1.158097256848123e-05, + "chamfer": 8.517131391272414e-06, + "track": 3.0638409498351393e-06, + "acceleration": 9.850978699432744e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1846398592751939e-05, + "observation_loss": 1.1591985639824998e-05, + "chamfer": 8.526504643668886e-06, + "track": 3.065481223529787e-06, + "acceleration": 2.544127539749752e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1794578313129023e-05, + "observation_loss": 1.1663124496408273e-05, + "chamfer": 8.560886271880008e-06, + "track": 3.1022382245282643e-06, + "acceleration": 1.3145387356416904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1833393728011288e-05, + "observation_loss": 1.1742731658159755e-05, + "chamfer": 8.594468454248272e-06, + "track": 3.1482627491641324e-06, + "acceleration": 9.066165773674584e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.190068360301666e-05, + "observation_loss": 1.1806207112385891e-05, + "chamfer": 8.630013326182961e-06, + "track": 3.176193331455579e-06, + "acceleration": 9.447689564012762e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1976588211837225e-05, + "observation_loss": 1.1892119800904766e-05, + "chamfer": 8.673603588249534e-06, + "track": 3.218515985281556e-06, + "acceleration": 8.446817645335614e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1950940461247228e-05, + "observation_loss": 1.1847711903101299e-05, + "chamfer": 8.649465598864481e-06, + "track": 3.198246304236818e-06, + "acceleration": 1.0322861498934799e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1765098861360457e-05, + "observation_loss": 1.167809205071535e-05, + "chamfer": 8.546471690351609e-06, + "track": 3.1316199056163896e-06, + "acceleration": 8.700647669002137e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.338481319943488e-06, + "chamfer_mean": 5.718428764585799e-06, + "track_mean": 1.5784408976908064e-06, + "acceleration_mean": 1.0416116428269007e-06, + "observation_score": 7.296869670862331e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4168691290014976 + }, + "score_arrays_file": "pass_scores/pass_end_0283.npz", + "score_arrays_sha256": "ae2f1d9af303cbbfed8ce43692e102f986f765fa9031bec702506bb64e6fa25e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0284.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0284.json new file mode 100644 index 0000000000000000000000000000000000000000..426f1b013897c5815c0822d33431b98ceb518166 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0284.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27264, + "completed_passes": 284, + "snapshot": "pass_end_0284", + "candidate": true, + "snapshot_arrays_sha256": "a9a14be5f612312bf7bce561c91ddbfe52934ae4b14231d19fcb587a7fe7c207", + "score": 7.292330487018717e-06, + "score_result": { + "score": 7.292330487018717e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.876030976040056e-06, + 3.16167097480502e-06, + 3.3156657082145102e-06, + 3.7483721371245338e-06, + 4.276766958355438e-06, + 4.483777502173325e-06, + 4.253638962836703e-06, + 4.129371518502012e-06, + 4.0664176594873425e-06, + 4.173808974883286e-06, + 4.548760898615001e-06, + 5.004761078453157e-06, + 5.305168542690808e-06, + 5.508167305379175e-06, + 5.498771770362509e-06, + 5.392415914684534e-06, + 5.0465787353459746e-06, + 4.66496294393437e-06, + 4.486694706429262e-06, + 4.4600133151107e-06, + 4.425047336553689e-06, + 4.344783974374877e-06, + 4.309152245696168e-06, + 4.298306976124877e-06, + 4.28943894803524e-06, + 4.420840468810638e-06, + 4.793013431481086e-06, + 5.060495823272504e-06, + 5.090105332783423e-06, + 5.071789018984418e-06, + 5.143076123204082e-06, + 5.286282430461142e-06, + 5.472970769915264e-06, + 5.702815542463213e-06, + 5.789331225969363e-06, + 5.907454578846227e-06, + 6.17300520389108e-06, + 6.280536126723746e-06, + 6.000737357680919e-06, + 5.661078375851503e-06, + 5.670131940860301e-06, + 5.956716449873056e-06, + 6.1433793234755285e-06, + 6.327237770165084e-06, + 6.408481567632407e-06, + 6.452865818573628e-06, + 6.5845574681588914e-06, + 7.0507244345208164e-06, + 7.684168849664275e-06, + 8.090422852546908e-06, + 7.941301191749517e-06, + 7.668897524126805e-06, + 7.430622645188123e-06, + 7.2280517997569405e-06, + 7.200368600024376e-06, + 7.239636943268124e-06, + 7.29760267859092e-06, + 7.353138244070578e-06, + 7.412633749481756e-06, + 7.528825335612055e-06, + 7.667496902286075e-06, + 7.811392606527079e-06, + 8.140424142766278e-06, + 8.603852620581165e-06, + 9.151799531537108e-06, + 9.442231203138363e-06, + 9.642929398978595e-06, + 9.83708832791308e-06, + 9.931533895723987e-06, + 9.835860510065686e-06, + 9.597130883776117e-06, + 9.516512363916263e-06, + 9.462039997742977e-06, + 9.32737657421967e-06, + 9.239321116183419e-06, + 9.535850040265359e-06, + 9.7709744295571e-06, + 9.651295840740204e-06, + 9.777224477147684e-06, + 9.947587386704981e-06, + 1.0160099918721244e-05, + 1.03817401395645e-05, + 1.0675790690584108e-05, + 1.1026311767636798e-05, + 1.1287042070762254e-05, + 1.1386346159270033e-05, + 1.146880276792217e-05, + 1.1543715118023101e-05, + 1.1562400686671026e-05, + 1.1572777111723553e-05, + 1.164356763183605e-05, + 1.1723395800800063e-05, + 1.1786494724219665e-05, + 1.1873044968524482e-05, + 1.1828269634861499e-05, + 1.1662162251013797e-05 + ] + ], + "episode_mean_losses": [ + 7.292330487018717e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.876030976040056e-06, + "observation_loss": 2.876030976040056e-06, + "chamfer": 2.439854370095418e-06, + "track": 4.3617669120976643e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.154068301431835e-05, + "observation_loss": 3.16167097480502e-06, + "chamfer": 2.6741522560769226e-06, + "track": 4.875186618846783e-07, + "acceleration": 3.8379010220523924e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.357011180720292e-05, + "observation_loss": 3.3156657082145102e-06, + "chamfer": 2.806675183819607e-06, + "track": 5.089904675514845e-07, + "acceleration": 2.0254447008483112e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0278370609739795e-05, + "observation_loss": 3.7483721371245338e-06, + "chamfer": 3.160580035910243e-06, + "track": 5.877921580577095e-07, + "acceleration": 6.529998245241586e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.412413313228171e-06, + "observation_loss": 4.276766958355438e-06, + "chamfer": 3.586327920857002e-06, + "track": 6.904392648721114e-07, + "acceleration": 2.135646127499058e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.7336633290105965e-06, + "observation_loss": 4.483777502173325e-06, + "chamfer": 3.7513939332711743e-06, + "track": 7.323835689021507e-07, + "acceleration": 1.2498859405241092e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.991231890016934e-06, + "observation_loss": 4.253638962836703e-06, + "chamfer": 3.5643674891616683e-06, + "track": 6.892714736750349e-07, + "acceleration": 7.37592756649974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.635792265617056e-06, + "observation_loss": 4.129371518502012e-06, + "chamfer": 3.4657180094654905e-06, + "track": 6.636533953496837e-07, + "acceleration": 5.064208608018816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.522584276855923e-06, + "observation_loss": 4.0664176594873425e-06, + "chamfer": 3.41745567311591e-06, + "track": 6.489621000582702e-07, + "acceleration": 4.5616670263370906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.488340891839471e-06, + "observation_loss": 4.173808974883286e-06, + "chamfer": 3.505818312987685e-06, + "track": 6.679907755824388e-07, + "acceleration": 3.14531888534475e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.675584477809025e-06, + "observation_loss": 4.548760898615001e-06, + "chamfer": 3.8105781641206704e-06, + "track": 7.381826776509115e-07, + "acceleration": 1.2682360761573364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.090217655379092e-06, + "observation_loss": 5.004761078453157e-06, + "chamfer": 4.176059519522823e-06, + "track": 8.28701445243496e-07, + "acceleration": 8.545658403136258e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.38993617738015e-06, + "observation_loss": 5.305168542690808e-06, + "chamfer": 4.4227786020201165e-06, + "track": 8.82390111200948e-07, + "acceleration": 8.476757784592337e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.610132575384341e-06, + "observation_loss": 5.508167305379175e-06, + "chamfer": 4.595318387146108e-06, + "track": 9.128486908593914e-07, + "acceleration": 1.019652415834571e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.557130407396471e-06, + "observation_loss": 5.498771770362509e-06, + "chamfer": 4.5910223889222834e-06, + "track": 9.077492109099694e-07, + "acceleration": 5.8358629928534356e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.511367817234714e-06, + "observation_loss": 5.392415914684534e-06, + "chamfer": 4.504252501646988e-06, + "track": 8.881636404112214e-07, + "acceleration": 1.1895201623701723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.2518648772093e-06, + "observation_loss": 5.0465787353459746e-06, + "chamfer": 4.221153631078778e-06, + "track": 8.254252179540345e-07, + "acceleration": 2.0528625555016333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.968733264831826e-06, + "observation_loss": 4.66496294393437e-06, + "chamfer": 3.9057522371876985e-06, + "track": 7.592108772769279e-07, + "acceleration": 3.0377012194549025e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.6773129724897444e-06, + "observation_loss": 4.486694706429262e-06, + "chamfer": 3.7568204334093025e-06, + "track": 7.298740456462838e-07, + "acceleration": 1.9061832290390157e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.679215635405853e-06, + "observation_loss": 4.4600133151107e-06, + "chamfer": 3.7307975162548246e-06, + "track": 7.292157420124568e-07, + "acceleration": 2.1920230608429847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.7006114982650615e-06, + "observation_loss": 4.425047336553689e-06, + "chamfer": 3.700275328810676e-06, + "track": 7.247722351166885e-07, + "acceleration": 2.7556427539821016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.633243406715337e-06, + "observation_loss": 4.344783974374877e-06, + "chamfer": 3.6343608371680602e-06, + "track": 7.104230803633982e-07, + "acceleration": 2.884592333884939e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.55941017207806e-06, + "observation_loss": 4.309152245696168e-06, + "chamfer": 3.610207613746752e-06, + "track": 6.989447456362541e-07, + "acceleration": 2.5025778427334444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.546584477793658e-06, + "observation_loss": 4.298306976124877e-06, + "chamfer": 3.5982684494229034e-06, + "track": 7.000383561717172e-07, + "acceleration": 2.482773595602339e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.563522452372126e-06, + "observation_loss": 4.28943894803524e-06, + "chamfer": 3.5758191643253667e-06, + "track": 7.1361995424013e-07, + "acceleration": 2.7408344749346725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.71291241410654e-06, + "observation_loss": 4.420840468810638e-06, + "chamfer": 3.6650917536462657e-06, + "track": 7.557488288512104e-07, + "acceleration": 2.920717747656454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.190423053136328e-06, + "observation_loss": 4.793013431481086e-06, + "chamfer": 3.945331627619453e-06, + "track": 8.476817470182141e-07, + "acceleration": 3.9740976376378967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.324567155184923e-06, + "observation_loss": 5.060495823272504e-06, + "chamfer": 4.151384473516373e-06, + "track": 9.09111349756131e-07, + "acceleration": 2.640715024426754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.540189249586547e-06, + "observation_loss": 5.090105332783423e-06, + "chamfer": 4.180073574389098e-06, + "track": 9.100319289245817e-07, + "acceleration": 4.5008374627286685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.311369022820145e-06, + "observation_loss": 5.071789018984418e-06, + "chamfer": 4.174227797193453e-06, + "track": 8.975612786343845e-07, + "acceleration": 2.3958023120940197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.4450883908430114e-06, + "observation_loss": 5.143076123204082e-06, + "chamfer": 4.237823304720223e-06, + "track": 9.052529890141159e-07, + "acceleration": 3.0201240974747634e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.583297024713829e-06, + "observation_loss": 5.286282430461142e-06, + "chamfer": 4.351252755441237e-06, + "track": 9.350295044896484e-07, + "acceleration": 2.970145658309775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.727275947720045e-06, + "observation_loss": 5.472970769915264e-06, + "chamfer": 4.4983512452745344e-06, + "track": 9.74619752014405e-07, + "acceleration": 2.5430509253965283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 5.982117727398872e-06, + "observation_loss": 5.702815542463213e-06, + "chamfer": 4.666487257054541e-06, + "track": 1.0363283990955097e-06, + "acceleration": 2.7930215651394974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.00682733420399e-06, + "observation_loss": 5.789331225969363e-06, + "chamfer": 4.729878128273413e-06, + "track": 1.0594530976959504e-06, + "acceleration": 2.174959377043706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.06805269853794e-06, + "observation_loss": 5.907454578846227e-06, + "chamfer": 4.805308890354354e-06, + "track": 1.1021458021787112e-06, + "acceleration": 1.6059827601111465e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.2918043113313615e-06, + "observation_loss": 6.17300520389108e-06, + "chamfer": 4.997687028662767e-06, + "track": 1.175318402601988e-06, + "acceleration": 1.1879899375344394e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.571073754457757e-06, + "observation_loss": 6.280536126723746e-06, + "chamfer": 5.090328158985358e-06, + "track": 1.1902079677383881e-06, + "acceleration": 2.905374003603356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.187120106915245e-06, + "observation_loss": 6.000737357680919e-06, + "chamfer": 4.889972387900343e-06, + "track": 1.1107650834674132e-06, + "acceleration": 1.8638260712577903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.822726052429061e-06, + "observation_loss": 5.661078375851503e-06, + "chamfer": 4.627148882718757e-06, + "track": 1.0339294931327458e-06, + "acceleration": 1.6164759131243045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.954465450486168e-06, + "observation_loss": 5.670131940860301e-06, + "chamfer": 4.631554929801496e-06, + "track": 1.0385770110588055e-06, + "acceleration": 2.8433356646928587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.203840712259989e-06, + "observation_loss": 5.956716449873056e-06, + "chamfer": 4.839726898353547e-06, + "track": 1.116989324145834e-06, + "acceleration": 2.471244044954801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.2651811276737135e-06, + "observation_loss": 6.1433793234755285e-06, + "chamfer": 4.9655436669127084e-06, + "track": 1.1778358839364955e-06, + "acceleration": 1.2180169051134726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.362025033013197e-06, + "observation_loss": 6.327237770165084e-06, + "chamfer": 5.099539521324914e-06, + "track": 1.2276983625270077e-06, + "acceleration": 3.4787372982236775e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.495713932963554e-06, + "observation_loss": 6.408481567632407e-06, + "chamfer": 5.157111445441842e-06, + "track": 1.2513701221905649e-06, + "acceleration": 8.723224453888179e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.604512691410491e-06, + "observation_loss": 6.452865818573628e-06, + "chamfer": 5.189771400182508e-06, + "track": 1.2630941910174442e-06, + "acceleration": 1.5164674493917119e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.785603545722552e-06, + "observation_loss": 6.5845574681588914e-06, + "chamfer": 5.292594778438797e-06, + "track": 1.2919625760332565e-06, + "acceleration": 2.0104592124425835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.2132638706534635e-06, + "observation_loss": 7.0507244345208164e-06, + "chamfer": 5.639231403620215e-06, + "track": 1.411493144587439e-06, + "acceleration": 1.625394361326471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.819679922249634e-06, + "observation_loss": 7.684168849664275e-06, + "chamfer": 6.0836268858111e-06, + "track": 1.6005416227926617e-06, + "acceleration": 1.3551122890476108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.376203368243296e-06, + "observation_loss": 8.090422852546908e-06, + "chamfer": 6.372304596879985e-06, + "track": 1.7181184830405982e-06, + "acceleration": 2.857807430700632e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.193325811589602e-06, + "observation_loss": 7.941301191749517e-06, + "chamfer": 6.2743333728576545e-06, + "track": 1.666967591518187e-06, + "acceleration": 2.5202436404470063e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.916120921436232e-06, + "observation_loss": 7.668897524126805e-06, + "chamfer": 6.090606348152505e-06, + "track": 1.578290834913787e-06, + "acceleration": 2.4722362468310166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.5099019340996165e-06, + "observation_loss": 7.430622645188123e-06, + "chamfer": 5.916100235481281e-06, + "track": 1.5145222960200044e-06, + "acceleration": 7.927946654717744e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.281620582944015e-06, + "observation_loss": 7.2280517997569405e-06, + "chamfer": 5.764265551988501e-06, + "track": 1.4637864751421148e-06, + "acceleration": 5.3568847135920805e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.2633547461009584e-06, + "observation_loss": 7.200368600024376e-06, + "chamfer": 5.739451353292679e-06, + "track": 1.4609172467316967e-06, + "acceleration": 6.298631660683895e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.322748842852889e-06, + "observation_loss": 7.239636943268124e-06, + "chamfer": 5.760589374403935e-06, + "track": 1.4790474551773514e-06, + "acceleration": 8.311181431963632e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.3414180405961815e-06, + "observation_loss": 7.29760267859092e-06, + "chamfer": 5.800709914183244e-06, + "track": 1.4968929917813512e-06, + "acceleration": 4.381550056109518e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.552747774752788e-06, + "observation_loss": 7.353138244070578e-06, + "chamfer": 5.827338100061752e-06, + "track": 1.5258000303219887e-06, + "acceleration": 1.9960930330853444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.871413799875882e-06, + "observation_loss": 7.412633749481756e-06, + "chamfer": 5.874187536392128e-06, + "track": 1.5384462130896281e-06, + "acceleration": 4.5878039145463845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.464850907330401e-06, + "observation_loss": 7.528825335612055e-06, + "chamfer": 5.946290002611931e-06, + "track": 1.582535560373799e-06, + "acceleration": 9.360253443446709e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.015087016450707e-06, + "observation_loss": 7.667496902286075e-06, + "chamfer": 6.056295205780771e-06, + "track": 1.6112016965053044e-06, + "acceleration": 1.3475902278514695e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.60107502376195e-06, + "observation_loss": 7.811392606527079e-06, + "chamfer": 6.167620540509233e-06, + "track": 1.643771952331008e-06, + "acceleration": 7.896819624875207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.467957741231658e-06, + "observation_loss": 8.140424142766278e-06, + "chamfer": 6.407753971870989e-06, + "track": 1.732670398268965e-06, + "acceleration": 3.275336553087982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.85574354470009e-06, + "observation_loss": 8.603852620581165e-06, + "chamfer": 6.725657385686645e-06, + "track": 1.8781954622681951e-06, + "acceleration": 2.518908388537966e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.260429578716867e-06, + "observation_loss": 9.151799531537108e-06, + "chamfer": 7.097825800883584e-06, + "track": 2.0539732759061735e-06, + "acceleration": 1.0863030297514342e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.524648703518324e-06, + "observation_loss": 9.442231203138363e-06, + "chamfer": 7.292243481060723e-06, + "track": 2.1499874947039643e-06, + "acceleration": 8.241726590085818e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.907123967423104e-06, + "observation_loss": 9.642929398978595e-06, + "chamfer": 7.427149739669403e-06, + "track": 2.215779431935516e-06, + "acceleration": 2.641942558057053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 9.997785127779935e-06, + "observation_loss": 9.83708832791308e-06, + "chamfer": 7.534319593105465e-06, + "track": 2.3027687348076142e-06, + "acceleration": 1.6069697039711173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0041057976195589e-05, + "observation_loss": 9.931533895723987e-06, + "chamfer": 7.584330887766555e-06, + "track": 2.347203235331108e-06, + "acceleration": 1.0952424389643056e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0150627531402279e-05, + "observation_loss": 9.835860510065686e-06, + "chamfer": 7.5216776167508215e-06, + "track": 2.3141828933148645e-06, + "acceleration": 3.1476704975830216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0386928806838114e-05, + "observation_loss": 9.597130883776117e-06, + "chamfer": 7.3794203672150616e-06, + "track": 2.217710743934731e-06, + "acceleration": 7.897979799054156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.991492333938368e-06, + "observation_loss": 9.516512363916263e-06, + "chamfer": 7.317266863537952e-06, + "track": 2.199245727751986e-06, + "acceleration": 4.7497965738330095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.662623597250786e-06, + "observation_loss": 9.462039997742977e-06, + "chamfer": 7.279645160451764e-06, + "track": 2.182395064664888e-06, + "acceleration": 2.00583983200886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 1.0103708518727217e-05, + "observation_loss": 9.32737657421967e-06, + "chamfer": 7.1864646997710224e-06, + "track": 2.1409118744486477e-06, + "acceleration": 7.763321718812222e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.2236489055794664e-05, + "observation_loss": 9.239321116183419e-06, + "chamfer": 7.0992768996802624e-06, + "track": 2.140043989129481e-06, + "acceleration": 2.997167484863894e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2531048923847266e-05, + "observation_loss": 9.535850040265359e-06, + "chamfer": 7.308011845452711e-06, + "track": 2.2278379674389726e-06, + "acceleration": 2.9951988835819066e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1926581464649644e-05, + "observation_loss": 9.7709744295571e-06, + "chamfer": 7.459218977601267e-06, + "track": 2.311755679329508e-06, + "acceleration": 2.1556072624662193e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0619838576531038e-05, + "observation_loss": 9.651295840740204e-06, + "chamfer": 7.3720425461942796e-06, + "track": 2.2792532945459243e-06, + "acceleration": 9.685429631645093e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0189848580921534e-05, + "observation_loss": 9.777224477147684e-06, + "chamfer": 7.453445050487062e-06, + "track": 2.3237789719132707e-06, + "acceleration": 4.126236774482095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0214173926215153e-05, + "observation_loss": 9.947587386704981e-06, + "chamfer": 7.551698672614293e-06, + "track": 2.3958882593433373e-06, + "acceleration": 2.665865679318813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0376160389569122e-05, + "observation_loss": 1.0160099918721244e-05, + "chamfer": 7.662240022909828e-06, + "track": 2.4978601231850917e-06, + "acceleration": 2.1606044242616917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0620461580401752e-05, + "observation_loss": 1.03817401395645e-05, + "chamfer": 7.77684817876434e-06, + "track": 2.6048917334264843e-06, + "acceleration": 2.387213555721246e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0776714589155745e-05, + "observation_loss": 1.0675790690584108e-05, + "chamfer": 7.965255463204812e-06, + "track": 2.7105350000056205e-06, + "acceleration": 1.0092385593907238e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.111930214392487e-05, + "observation_loss": 1.1026311767636798e-05, + "chamfer": 8.197421266231686e-06, + "track": 2.828890274031437e-06, + "acceleration": 9.298994285700246e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1421683666412719e-05, + "observation_loss": 1.1287042070762254e-05, + "chamfer": 8.369514034711756e-06, + "track": 2.9175280360504985e-06, + "acceleration": 1.3464138248764357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1511743650771677e-05, + "observation_loss": 1.1386346159270033e-05, + "chamfer": 8.419275218329858e-06, + "track": 2.967070940940175e-06, + "acceleration": 1.253971504411311e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1600844118220266e-05, + "observation_loss": 1.146880276792217e-05, + "chamfer": 8.472229637845885e-06, + "track": 2.996573357449961e-06, + "acceleration": 1.3204176241288224e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1692906809912529e-05, + "observation_loss": 1.1543715118023101e-05, + "chamfer": 8.505908226652537e-06, + "track": 3.0378066639968893e-06, + "acceleration": 1.4919199031737662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1650905435089953e-05, + "observation_loss": 1.1562400686671026e-05, + "chamfer": 8.506283847964369e-06, + "track": 3.056117293454008e-06, + "acceleration": 8.850474131349984e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.18152911454672e-05, + "observation_loss": 1.1572777111723553e-05, + "chamfer": 8.51541608426487e-06, + "track": 3.0573610274586827e-06, + "acceleration": 2.4251363583971397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1768695912905969e-05, + "observation_loss": 1.164356763183605e-05, + "chamfer": 8.549494850740302e-06, + "track": 3.094073235843098e-06, + "acceleration": 1.2512856528701377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1813387573056389e-05, + "observation_loss": 1.1723395800800063e-05, + "chamfer": 8.583493581681978e-06, + "track": 3.1399019917444093e-06, + "acceleration": 8.99919285757278e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.188167789223371e-05, + "observation_loss": 1.1786494724219665e-05, + "chamfer": 8.618899300927296e-06, + "track": 3.1675958780397195e-06, + "acceleration": 9.518351617998633e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1957939932472073e-05, + "observation_loss": 1.1873044968524482e-05, + "chamfer": 8.66316713654669e-06, + "track": 3.2098776046041166e-06, + "acceleration": 8.489484315532536e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1931312656088267e-05, + "observation_loss": 1.1828269634861499e-05, + "chamfer": 8.63867171574384e-06, + "track": 3.189597691743984e-06, + "acceleration": 1.0304261621740807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1751806596294045e-05, + "observation_loss": 1.1662162251013797e-05, + "chamfer": 8.537129360774998e-06, + "track": 3.1250326628651237e-06, + "acceleration": 8.964422448798359e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.32710449572005e-06, + "chamfer_mean": 5.715454643488253e-06, + "track_mean": 1.576875846787118e-06, + "acceleration_mean": 1.0347739817599215e-06, + "observation_score": 7.292330487018717e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4290090069989674 + }, + "score_arrays_file": "pass_scores/pass_end_0284.npz", + "score_arrays_sha256": "f20a5984ab8bede5f61bf7a2acfe5377fe661080a3bbc27ccca86c2806b7af1f" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0285.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0285.json new file mode 100644 index 0000000000000000000000000000000000000000..2b877f9e85cef2bdbe5d41e8b438ad7385e65e6a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0285.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27360, + "completed_passes": 285, + "snapshot": "pass_end_0285", + "candidate": true, + "snapshot_arrays_sha256": "3b1cdcdd18c84163e801e1db970870e135bfac8418ed98a1dc1b779ae38ab43d", + "score": 7.287352116710129e-06, + "score_result": { + "score": 7.287352116710129e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.875774953281507e-06, + 3.16140949507826e-06, + 3.313832166895736e-06, + 3.7464258184627397e-06, + 4.274041657481575e-06, + 4.481265023059677e-06, + 4.2506098907324485e-06, + 4.125554369238671e-06, + 4.062745574628934e-06, + 4.170397460256936e-06, + 4.545783212961396e-06, + 5.002105808671331e-06, + 5.303000762069132e-06, + 5.506275101652136e-06, + 5.497138772625476e-06, + 5.3909243433736265e-06, + 5.0444959924789146e-06, + 4.662647370423656e-06, + 4.483986685954733e-06, + 4.457643626665231e-06, + 4.422448455443373e-06, + 4.341544354247162e-06, + 4.304668436816428e-06, + 4.293998244975228e-06, + 4.285889644961571e-06, + 4.418922344484599e-06, + 4.792690560861956e-06, + 5.0608014134923e-06, + 5.0889875637949444e-06, + 5.068258360552136e-06, + 5.140666416991735e-06, + 5.284725375531707e-06, + 5.473335477290675e-06, + 5.704628165403847e-06, + 5.793223863292951e-06, + 5.911732841923367e-06, + 6.175351700221654e-06, + 6.280607522057835e-06, + 5.9976100601488724e-06, + 5.657792826241348e-06, + 5.666159268002957e-06, + 5.951618732069619e-06, + 6.138095614005579e-06, + 6.322527042357251e-06, + 6.403824045264628e-06, + 6.448674866987858e-06, + 6.581277375516947e-06, + 7.047625786071876e-06, + 7.681561328354292e-06, + 8.087553396762814e-06, + 7.938228009152226e-06, + 7.666521014471073e-06, + 7.4288946052547544e-06, + 7.226336947496748e-06, + 7.198214916570578e-06, + 7.237024874484632e-06, + 7.295101568161044e-06, + 7.3510509537300095e-06, + 7.410683792841155e-06, + 7.527544767071959e-06, + 7.666592864552513e-06, + 7.810656825313345e-06, + 8.140610589180142e-06, + 8.60519958223449e-06, + 9.154253348242491e-06, + 9.445414434594568e-06, + 9.646458238421474e-06, + 9.841058272286318e-06, + 9.936243259289768e-06, + 9.840102393354755e-06, + 9.599813893146347e-06, + 9.517878424958326e-06, + 9.46289310377324e-06, + 9.324890015705023e-06, + 9.237235644832253e-06, + 9.524001143290661e-06, + 9.765072718437295e-06, + 9.644321835367009e-06, + 9.77140553004574e-06, + 9.937049071595538e-06, + 1.014711415336933e-05, + 1.0364703484810889e-05, + 1.0657223356247414e-05, + 1.1006197382812388e-05, + 1.1266183719271794e-05, + 1.1364711099304259e-05, + 1.144757516158279e-05, + 1.1522672139108181e-05, + 1.1540863852133043e-05, + 1.1550990166142583e-05, + 1.1621000339800958e-05, + 1.1700784853019286e-05, + 1.1763757356675342e-05, + 1.1851177077915054e-05, + 1.1806379006884526e-05, + 1.1640858247119468e-05 + ] + ], + "episode_mean_losses": [ + 7.287352116710129e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.875774953281507e-06, + "observation_loss": 2.875774953281507e-06, + "chamfer": 2.439630861772457e-06, + "track": 4.3614406308734033e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.153394911554642e-05, + "observation_loss": 3.16140949507826e-06, + "chamfer": 2.673924200280453e-06, + "track": 4.874852379543881e-07, + "acceleration": 3.837253825622611e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3550426703877747e-05, + "observation_loss": 3.313832166895736e-06, + "chamfer": 2.8051492790837074e-06, + "track": 5.086828309686098e-07, + "acceleration": 2.023659362748731e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0270910934195854e-05, + "observation_loss": 3.7464258184627397e-06, + "chamfer": 3.1589695481670788e-06, + "track": 5.874562702956609e-07, + "acceleration": 6.5244853431067895e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.3917132138158195e-06, + "observation_loss": 4.274041657481575e-06, + "chamfer": 3.584094883990474e-06, + "track": 6.899468871779391e-07, + "acceleration": 2.1176717837079195e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.725374649045989e-06, + "observation_loss": 4.481265023059677e-06, + "chamfer": 3.7493416584766237e-06, + "track": 7.31923194052797e-07, + "acceleration": 1.2441095122994739e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.984159204468597e-06, + "observation_loss": 4.2506098907324485e-06, + "chamfer": 3.5618652418634156e-06, + "track": 6.887448193992896e-07, + "acceleration": 7.335492568927293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.632634045265149e-06, + "observation_loss": 4.125554369238671e-06, + "chamfer": 3.462562290224014e-06, + "track": 6.629919653278193e-07, + "acceleration": 5.070796191830595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.518322839430766e-06, + "observation_loss": 4.062745574628934e-06, + "chamfer": 3.4144227356591728e-06, + "track": 6.483228958131804e-07, + "acceleration": 4.555773500669602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.483657903620042e-06, + "observation_loss": 4.170397460256936e-06, + "chamfer": 3.5029806895181537e-06, + "track": 6.674168844256201e-07, + "acceleration": 3.132604433631059e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.67222707811743e-06, + "observation_loss": 4.545783212961396e-06, + "chamfer": 3.8081000184320146e-06, + "track": 7.376831945293816e-07, + "acceleration": 1.26443666204068e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.087451881991001e-06, + "observation_loss": 5.002105808671331e-06, + "chamfer": 4.173862635070691e-06, + "track": 8.282431167572213e-07, + "acceleration": 8.534602358167831e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.387722467276035e-06, + "observation_loss": 5.303000762069132e-06, + "chamfer": 4.420989171194378e-06, + "track": 8.82011534031335e-07, + "acceleration": 8.472149204408197e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.6080884860421065e-06, + "observation_loss": 5.506275101652136e-06, + "chamfer": 4.5937699724163394e-06, + "track": 9.125051860792155e-07, + "acceleration": 1.0181353360394496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.5552986850671005e-06, + "observation_loss": 5.497138772625476e-06, + "chamfer": 4.5897040763520636e-06, + "track": 9.074345825865748e-07, + "acceleration": 5.816001902303469e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.510067239811178e-06, + "observation_loss": 5.3909243433736265e-06, + "chamfer": 4.503050604398595e-06, + "track": 8.878736252881936e-07, + "acceleration": 1.1914278985614146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.249697096587624e-06, + "observation_loss": 5.0444959924789146e-06, + "chamfer": 4.219454240228515e-06, + "track": 8.250416954069806e-07, + "acceleration": 2.0520123200640228e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.965709194948431e-06, + "observation_loss": 4.662647370423656e-06, + "chamfer": 3.903870037902379e-06, + "track": 7.587772756778577e-07, + "acceleration": 3.030620518984506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.673484909289982e-06, + "observation_loss": 4.483986685954733e-06, + "chamfer": 3.754583985937643e-06, + "track": 7.2940270001709e-07, + "acceleration": 1.8949819491353992e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.676360276789637e-06, + "observation_loss": 4.457643626665231e-06, + "chamfer": 3.7288320982042933e-06, + "track": 7.288116989911941e-07, + "acceleration": 2.1871682065466302e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.698842076322762e-06, + "observation_loss": 4.422448455443373e-06, + "chamfer": 3.6981164157623425e-06, + "track": 7.243319259941927e-07, + "acceleration": 2.763936777228082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.629325303540099e-06, + "observation_loss": 4.341544354247162e-06, + "chamfer": 3.6316964724392164e-06, + "track": 7.098477112776891e-07, + "acceleration": 2.8778080718439014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.556159183266573e-06, + "observation_loss": 4.304668436816428e-06, + "chamfer": 3.606545305956388e-06, + "track": 6.981229603297834e-07, + "acceleration": 2.514905759198882e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.543554496194702e-06, + "observation_loss": 4.293998244975228e-06, + "chamfer": 3.5947093692811904e-06, + "track": 6.99288648320362e-07, + "acceleration": 2.4955613753263606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.562036338029429e-06, + "observation_loss": 4.285889644961571e-06, + "chamfer": 3.572801460904884e-06, + "track": 7.130881840566872e-07, + "acceleration": 2.7614646569418255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.709124368673656e-06, + "observation_loss": 4.418922344484599e-06, + "chamfer": 3.6634453408623813e-06, + "track": 7.554768330919615e-07, + "acceleration": 2.9020193892392854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.187595888855867e-06, + "observation_loss": 4.792690560861956e-06, + "chamfer": 3.944951458834112e-06, + "track": 8.477389883410069e-07, + "acceleration": 3.9490529957220133e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.324971880327212e-06, + "observation_loss": 5.0608014134923e-06, + "chamfer": 4.15147542298655e-06, + "track": 9.093259336623305e-07, + "acceleration": 2.641702963046555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.534597676160047e-06, + "observation_loss": 5.0889875637949444e-06, + "chamfer": 4.179053121333709e-06, + "track": 9.099343287743977e-07, + "acceleration": 4.456101407868118e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.3071689762873575e-06, + "observation_loss": 5.068258360552136e-06, + "chamfer": 4.171423370280536e-06, + "track": 8.968347628979245e-07, + "acceleration": 2.389106725786405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.446817795018433e-06, + "observation_loss": 5.140666416991735e-06, + "chamfer": 4.2360184124845546e-06, + "track": 9.046480613505992e-07, + "acceleration": 3.061514064484072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.598208190349396e-06, + "observation_loss": 5.284725375531707e-06, + "chamfer": 4.350172275735531e-06, + "track": 9.345532134830137e-07, + "acceleration": 3.1348281481768936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.746313945564907e-06, + "observation_loss": 5.473335477290675e-06, + "chamfer": 4.498866474023089e-06, + "track": 9.744690032675862e-07, + "acceleration": 2.72978468274232e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.0147726799186785e-06, + "observation_loss": 5.704628165403847e-06, + "chamfer": 4.668173460231628e-06, + "track": 1.0364549325458938e-06, + "acceleration": 3.101446850450884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.0335414673318155e-06, + "observation_loss": 5.793223863292951e-06, + "chamfer": 4.733138212031918e-06, + "track": 1.0600857649478712e-06, + "acceleration": 2.403176040388644e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.079604645492509e-06, + "observation_loss": 5.911732841923367e-06, + "chamfer": 4.808753146789968e-06, + "track": 1.1029794677597238e-06, + "acceleration": 1.6787194567768893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.297389063547598e-06, + "observation_loss": 6.175351700221654e-06, + "chamfer": 4.999538305128226e-06, + "track": 1.1758135087802657e-06, + "acceleration": 1.2203737753679889e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.569599918293534e-06, + "observation_loss": 6.280607522057835e-06, + "chamfer": 5.090320428280393e-06, + "track": 1.1902869800906046e-06, + "acceleration": 2.8899242465740826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.182497145346133e-06, + "observation_loss": 5.9976100601488724e-06, + "chamfer": 4.887442173640011e-06, + "track": 1.1101676591351861e-06, + "acceleration": 1.848871846732436e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8147788877249695e-06, + "observation_loss": 5.657792826241348e-06, + "chamfer": 4.624489520210773e-06, + "track": 1.0333030786568997e-06, + "acceleration": 1.569862604355876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.946896635578014e-06, + "observation_loss": 5.666159268002957e-06, + "chamfer": 4.628323949873447e-06, + "track": 1.0378355455031851e-06, + "acceleration": 2.8073753810531343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.196610684128245e-06, + "observation_loss": 5.951618732069619e-06, + "chamfer": 4.8356550905737095e-06, + "track": 1.115963414122234e-06, + "acceleration": 2.449917531066603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.259590008994564e-06, + "observation_loss": 6.138095614005579e-06, + "chamfer": 4.961358172295149e-06, + "track": 1.1767374417104293e-06, + "acceleration": 1.2149433814556687e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.357133770507062e-06, + "observation_loss": 6.322527042357251e-06, + "chamfer": 5.095815140521154e-06, + "track": 1.2267117881492595e-06, + "acceleration": 3.460672459709713e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.491081421700073e-06, + "observation_loss": 6.403824045264628e-06, + "chamfer": 5.1534248086682055e-06, + "track": 1.2503991229095845e-06, + "acceleration": 8.725720590518904e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.600159849767806e-06, + "observation_loss": 6.448674866987858e-06, + "chamfer": 5.186470389162423e-06, + "track": 1.2622043641385972e-06, + "acceleration": 1.514847696171273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.783262506360188e-06, + "observation_loss": 6.581277375516947e-06, + "chamfer": 5.290055923978798e-06, + "track": 1.2912213378513115e-06, + "acceleration": 2.0198500294554833e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.21036894901772e-06, + "observation_loss": 7.047625786071876e-06, + "chamfer": 5.636875357595272e-06, + "track": 1.4107504284766037e-06, + "acceleration": 1.627432197892631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.817508958396502e-06, + "observation_loss": 7.681561328354292e-06, + "chamfer": 6.081670562707586e-06, + "track": 1.5998908793335431e-06, + "acceleration": 1.3594727477084234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.37349671201082e-06, + "observation_loss": 8.087553396762814e-06, + "chamfer": 6.370298706315225e-06, + "track": 1.717254463073914e-06, + "acceleration": 2.859431447177485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.191378583433107e-06, + "observation_loss": 7.938228009152226e-06, + "chamfer": 6.2721824178879615e-06, + "track": 1.6660457049511024e-06, + "acceleration": 2.531501195335295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.915193236840423e-06, + "observation_loss": 7.666521014471073e-06, + "chamfer": 6.088876489229733e-06, + "track": 1.5776448663018527e-06, + "acceleration": 2.486726202732825e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.50908793634153e-06, + "observation_loss": 7.4288946052547544e-06, + "chamfer": 5.9147555475647096e-06, + "track": 1.5141390576900449e-06, + "acceleration": 8.019334529763e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.279855708475225e-06, + "observation_loss": 7.226336947496748e-06, + "chamfer": 5.762945420428878e-06, + "track": 1.4633916407547076e-06, + "acceleration": 5.351869347691718e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.261045084305806e-06, + "observation_loss": 7.198214916570578e-06, + "chamfer": 5.737773790315259e-06, + "track": 1.4604410125684808e-06, + "acceleration": 6.282994746698023e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.320516488107387e-06, + "observation_loss": 7.237024874484632e-06, + "chamfer": 5.7584843489166815e-06, + "track": 1.4785405255679507e-06, + "acceleration": 8.349148572506238e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.3388464443269186e-06, + "observation_loss": 7.295101568161044e-06, + "chamfer": 5.798675374535378e-06, + "track": 1.4964261936256662e-06, + "acceleration": 4.374502893256249e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.550793270638678e-06, + "observation_loss": 7.3510509537300095e-06, + "chamfer": 5.825600965181366e-06, + "track": 1.5254498748618062e-06, + "acceleration": 1.9974213216755743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.870209628890734e-06, + "observation_loss": 7.410683792841155e-06, + "chamfer": 5.872534075024305e-06, + "track": 1.5381497178168502e-06, + "acceleration": 4.595261202666734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.46547573019052e-06, + "observation_loss": 7.527544767071959e-06, + "chamfer": 5.945185421296628e-06, + "track": 1.5823595731490059e-06, + "acceleration": 9.379313610224926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.018496712087654e-06, + "observation_loss": 7.666592864552513e-06, + "chamfer": 6.055504400137579e-06, + "track": 1.6110889191622846e-06, + "acceleration": 1.3519043022824917e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.603279638919048e-06, + "observation_loss": 7.810656825313345e-06, + "chamfer": 6.16690567767364e-06, + "track": 1.6437516023870558e-06, + "acceleration": 7.926224157017714e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.469627573504113e-06, + "observation_loss": 8.140610589180142e-06, + "chamfer": 6.407733053492848e-06, + "track": 1.7328777630609693e-06, + "acceleration": 3.290172969627747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.857604370859917e-06, + "observation_loss": 8.60519958223449e-06, + "chamfer": 6.726493211317575e-06, + "track": 1.8787065982905915e-06, + "acceleration": 2.5240495915568317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.26326265471289e-06, + "observation_loss": 9.154253348242491e-06, + "chamfer": 7.099397862475598e-06, + "track": 2.054855258393218e-06, + "acceleration": 1.0900944147351765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.528242117085028e-06, + "observation_loss": 9.445414434594568e-06, + "chamfer": 7.294428996829083e-06, + "track": 2.1509854377654847e-06, + "acceleration": 8.282777486101622e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.9121489256504e-06, + "observation_loss": 9.646458238421474e-06, + "chamfer": 7.429678134940332e-06, + "track": 2.216780103481142e-06, + "acceleration": 2.656902893249935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0002479029935785e-05, + "observation_loss": 9.841058272286318e-06, + "chamfer": 7.537192232121015e-06, + "track": 2.3038660401653033e-06, + "acceleration": 1.6142078607117583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.004662954073865e-05, + "observation_loss": 9.936243259289768e-06, + "chamfer": 7.587880645587575e-06, + "track": 2.3483628410758683e-06, + "acceleration": 1.1038648040084809e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0155812560697086e-05, + "observation_loss": 9.840102393354755e-06, + "chamfer": 7.52496498535038e-06, + "track": 2.3151376353780506e-06, + "acceleration": 3.1571053682455386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.039115431922255e-05, + "observation_loss": 9.599813893146347e-06, + "chamfer": 7.381561772490386e-06, + "track": 2.2182523480296368e-06, + "acceleration": 7.91340653449879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 9.993424100684933e-06, + "observation_loss": 9.517878424958326e-06, + "chamfer": 7.318480129470117e-06, + "track": 2.1993982954882085e-06, + "acceleration": 4.755453346660943e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.663943274063058e-06, + "observation_loss": 9.46289310377324e-06, + "chamfer": 7.2804214141797274e-06, + "track": 2.1824716895935126e-06, + "acceleration": 2.0105039766349364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.983820746128913e-06, + "observation_loss": 9.324890015705023e-06, + "chamfer": 7.184264632087434e-06, + "track": 2.1406253836175893e-06, + "acceleration": 6.589310714844032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.173075543192681e-05, + "observation_loss": 9.237235644832253e-06, + "chamfer": 7.0989399318932556e-06, + "track": 2.138295258191647e-06, + "acceleration": 2.4935200144682312e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2458321180019993e-05, + "observation_loss": 9.524001143290661e-06, + "chamfer": 7.299265234905761e-06, + "track": 2.224736135758576e-06, + "acceleration": 2.9343198093556566e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1979460396105424e-05, + "observation_loss": 9.765072718437295e-06, + "chamfer": 7.4550607678247616e-06, + "track": 2.3100121779862093e-06, + "acceleration": 2.214387677668128e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0584372830635402e-05, + "observation_loss": 9.644321835367009e-06, + "chamfer": 7.367446869466221e-06, + "track": 2.276875420648139e-06, + "acceleration": 9.400510521118122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0182790902035777e-05, + "observation_loss": 9.77140553004574e-06, + "chamfer": 7.449323675245978e-06, + "track": 2.322081627426087e-06, + "acceleration": 4.113849740861042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0191890396527015e-05, + "observation_loss": 9.937049071595538e-06, + "chamfer": 7.544952950411243e-06, + "track": 2.392096121184295e-06, + "acceleration": 2.5484092702754424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0352783647249453e-05, + "observation_loss": 1.014711415336933e-05, + "chamfer": 7.654137334611733e-06, + "track": 2.4929772735049482e-06, + "acceleration": 2.0566903913277201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0587956239760388e-05, + "observation_loss": 1.0364703484810889e-05, + "chamfer": 7.766151611576788e-06, + "track": 2.598552100607776e-06, + "acceleration": 2.2325306758830266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0746488442237023e-05, + "observation_loss": 1.0657223356247414e-05, + "chamfer": 7.953934073157143e-06, + "track": 2.7032895104639465e-06, + "acceleration": 8.926524230901123e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1095218724221922e-05, + "observation_loss": 1.1006197382812388e-05, + "chamfer": 8.185374099412002e-06, + "track": 2.8208232834003866e-06, + "acceleration": 8.902152615064551e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.139187952503562e-05, + "observation_loss": 1.1266183719271794e-05, + "chamfer": 8.357064871233888e-06, + "track": 2.909118393290555e-06, + "acceleration": 1.2569584839638992e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1481842193461489e-05, + "observation_loss": 1.1364711099304259e-05, + "chamfer": 8.406238521274645e-06, + "track": 2.9584728054032894e-06, + "acceleration": 1.1713074599128959e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.157668975793058e-05, + "observation_loss": 1.144757516158279e-05, + "chamfer": 8.459543096250854e-06, + "track": 2.988032065331936e-06, + "acceleration": 1.291149516191581e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1669283594528679e-05, + "observation_loss": 1.1522672139108181e-05, + "chamfer": 8.493679160892498e-06, + "track": 3.028992750842008e-06, + "acceleration": 1.4661121383596765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1623793398030102e-05, + "observation_loss": 1.1540863852133043e-05, + "chamfer": 8.493632776662707e-06, + "track": 3.0472310754703358e-06, + "acceleration": 8.292995801184588e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.17864101412124e-05, + "observation_loss": 1.1550990166142583e-05, + "chamfer": 8.502723176206928e-06, + "track": 3.0482667625619797e-06, + "acceleration": 2.3541959137673985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1742394235625397e-05, + "observation_loss": 1.1621000339800958e-05, + "chamfer": 8.53624806040898e-06, + "track": 3.0847520520183025e-06, + "acceleration": 1.2139355476392666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1789873497036751e-05, + "observation_loss": 1.1700784853019286e-05, + "chamfer": 8.57034683576785e-06, + "track": 3.130438244625111e-06, + "acceleration": 8.908870796631163e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1858592188218608e-05, + "observation_loss": 1.1763757356675342e-05, + "chamfer": 8.605703442299273e-06, + "track": 3.158053459628718e-06, + "acceleration": 9.483524365805351e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1936286682612263e-05, + "observation_loss": 1.1851177077915054e-05, + "chamfer": 8.65084984980058e-06, + "track": 3.20032745548815e-06, + "acceleration": 8.510926363669569e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1909981367352884e-05, + "observation_loss": 1.1806379006884526e-05, + "chamfer": 8.626275302958675e-06, + "track": 3.1801037039258517e-06, + "acceleration": 1.0360236757378516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1730501682905015e-05, + "observation_loss": 1.1640858247119468e-05, + "chamfer": 8.5249730545911e-06, + "track": 3.1158854199020425e-06, + "acceleration": 8.964324393900824e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.314853483663379e-06, + "chamfer_mean": 5.712229397640082e-06, + "track_mean": 1.5751227246951771e-06, + "acceleration_mean": 1.027501341529143e-06, + "observation_score": 7.287352116710129e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4303436999998667 + }, + "score_arrays_file": "pass_scores/pass_end_0285.npz", + "score_arrays_sha256": "81d9cce2a1e69e8d6d8e6e4e2afa453d195270ce98344aa92f58cff223b906d6" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0286.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0286.json new file mode 100644 index 0000000000000000000000000000000000000000..f212f673fab85b523343394daaed028569c23557 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0286.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27456, + "completed_passes": 286, + "snapshot": "pass_end_0286", + "candidate": true, + "snapshot_arrays_sha256": "cfbb06c20991cdde25ece9bb456fad95db5452ded4b78d33b93792e6f79729d6", + "score": 7.284522261841175e-06, + "score_result": { + "score": 7.284522261841175e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.875534391932888e-06, + 3.1612435122951865e-06, + 3.3119897580036195e-06, + 3.7444933695951477e-06, + 4.271571015124209e-06, + 4.478836217458593e-06, + 4.247525339451386e-06, + 4.121633082831977e-06, + 4.059108960063895e-06, + 4.1668190533528104e-06, + 4.542857368505793e-06, + 4.999474185751751e-06, + 5.300933935359353e-06, + 5.5046189118002076e-06, + 5.4961078603810165e-06, + 5.389948000811273e-06, + 5.043008968641516e-06, + 4.660538706957595e-06, + 4.481593805394368e-06, + 4.455479029275011e-06, + 4.419751803652616e-06, + 4.337899554229807e-06, + 4.300447926652851e-06, + 4.290153810870834e-06, + 4.282975623937091e-06, + 4.417809122969629e-06, + 4.792709205503343e-06, + 5.061485353508033e-06, + 5.088283614895772e-06, + 5.065473033027956e-06, + 5.138960204931209e-06, + 5.283739938022336e-06, + 5.4743632063036785e-06, + 5.706742285838118e-06, + 5.79631660002633e-06, + 5.915459951211233e-06, + 6.1778373492415994e-06, + 6.2818230617267545e-06, + 5.996342679281952e-06, + 5.654481356032193e-06, + 5.661730028805323e-06, + 5.9462936405907385e-06, + 6.132875569164753e-06, + 6.317848601611331e-06, + 6.399101039278321e-06, + 6.4446917349414434e-06, + 6.57820601190906e-06, + 7.044679477985483e-06, + 7.678429938096087e-06, + 8.083723514573649e-06, + 7.935234862088691e-06, + 7.664461918466259e-06, + 7.427737727994099e-06, + 7.225857189041562e-06, + 7.198000275820959e-06, + 7.23679795555654e-06, + 7.295324394362979e-06, + 7.3515593612683006e-06, + 7.411522801703541e-06, + 7.528906735387864e-06, + 7.668543730687816e-06, + 7.813436241121963e-06, + 8.144332241499797e-06, + 8.610043551016133e-06, + 9.160261470242403e-06, + 9.452768608753104e-06, + 9.655503163230605e-06, + 9.850789865595289e-06, + 9.946977115760092e-06, + 9.851666618487798e-06, + 9.611226232664194e-06, + 9.529075214231852e-06, + 9.473155841988046e-06, + 9.331897672382183e-06, + 9.244751709047705e-06, + 9.523023436486255e-06, + 9.76917363004759e-06, + 9.6467283583479e-06, + 9.773658348422032e-06, + 9.933509318216238e-06, + 1.0139889127458446e-05, + 1.0353234756621532e-05, + 1.0643464520398993e-05, + 1.0990359442075714e-05, + 1.1248576811340172e-05, + 1.1346162864356302e-05, + 1.1428858670115005e-05, + 1.1503954738145694e-05, + 1.152081949840067e-05, + 1.1530672054504976e-05, + 1.160060037364019e-05, + 1.1679592716973275e-05, + 1.1742186870833393e-05, + 1.1830543371615931e-05, + 1.17853842311888e-05, + 1.1619960787356831e-05 + ] + ], + "episode_mean_losses": [ + 7.284522261841175e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.875534391932888e-06, + "observation_loss": 2.875534391932888e-06, + "chamfer": 2.4394203137489967e-06, + "track": 4.3611396449705353e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.153113695792854e-05, + "observation_loss": 3.1612435122951865e-06, + "chamfer": 2.673776862138766e-06, + "track": 4.874667069998395e-07, + "acceleration": 3.836989344563335e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3534625142929144e-05, + "observation_loss": 3.3119897580036195e-06, + "chamfer": 2.803614734148141e-06, + "track": 5.083750238554785e-07, + "acceleration": 2.02226347028045e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.026447625918081e-05, + "observation_loss": 3.7444933695951477e-06, + "chamfer": 3.1573699743603356e-06, + "track": 5.871233383913932e-07, + "acceleration": 6.519982889585663e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.371011295414064e-06, + "observation_loss": 4.271571015124209e-06, + "chamfer": 3.5820687571685994e-06, + "track": 6.895020305819344e-07, + "acceleration": 2.099440280289855e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.717058229492977e-06, + "observation_loss": 4.478836217458593e-06, + "chamfer": 3.7473480460903374e-06, + "track": 7.31488285055093e-07, + "acceleration": 1.2382221257212223e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.977927346772049e-06, + "observation_loss": 4.247525339451386e-06, + "chamfer": 3.5593191114458023e-06, + "track": 6.882062848490023e-07, + "acceleration": 7.304020641640818e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.629290742741432e-06, + "observation_loss": 4.121633082831977e-06, + "chamfer": 3.459321305854246e-06, + "track": 6.623117769777309e-07, + "acceleration": 5.076574893791985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.514542069955496e-06, + "observation_loss": 4.059108960063895e-06, + "chamfer": 3.4114207210222958e-06, + "track": 6.476881821981806e-07, + "acceleration": 4.5543316673501977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.479631570575293e-06, + "observation_loss": 4.1668190533528104e-06, + "chamfer": 3.500005504974979e-06, + "track": 6.668137757515069e-07, + "acceleration": 3.1281257406590157e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.669532700063428e-06, + "observation_loss": 4.542857368505793e-06, + "chamfer": 3.805669166467851e-06, + "track": 7.371882020379417e-07, + "acceleration": 1.2667518944908807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.085199063614709e-06, + "observation_loss": 4.999474185751751e-06, + "chamfer": 4.17169212596491e-06, + "track": 8.27782173473679e-07, + "acceleration": 8.572474285983844e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.386071734392317e-06, + "observation_loss": 5.300933935359353e-06, + "chamfer": 4.419295237312326e-06, + "track": 8.816385843601893e-07, + "acceleration": 8.513767824069873e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.606755166809307e-06, + "observation_loss": 5.5046189118002076e-06, + "chamfer": 4.592431650962681e-06, + "track": 9.121873745243647e-07, + "acceleration": 1.0213634737965549e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.554440122068627e-06, + "observation_loss": 5.4961078603810165e-06, + "chamfer": 4.588902356772451e-06, + "track": 9.072053899217281e-07, + "acceleration": 5.833243577058056e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.508870344783645e-06, + "observation_loss": 5.389948000811273e-06, + "chamfer": 4.502289357333211e-06, + "track": 8.876585297912243e-07, + "acceleration": 1.1892243634292754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.24781717103906e-06, + "observation_loss": 5.043008968641516e-06, + "chamfer": 4.218253252474824e-06, + "track": 8.247557161666919e-07, + "acceleration": 2.048079750238685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.963195806340082e-06, + "observation_loss": 4.660538706957595e-06, + "chamfer": 3.902168373315362e-06, + "track": 7.583704473290709e-07, + "acceleration": 3.0265704253906733e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.670126600103686e-06, + "observation_loss": 4.481593805394368e-06, + "chamfer": 3.7526140204136027e-06, + "track": 7.289799555110221e-07, + "acceleration": 1.885327094441891e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.673563125834335e-06, + "observation_loss": 4.455479029275011e-06, + "chamfer": 3.727044258994283e-06, + "track": 7.284346565938904e-07, + "acceleration": 2.1808426708957995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.696597443398787e-06, + "observation_loss": 4.419751803652616e-06, + "chamfer": 3.6958945202059112e-06, + "track": 7.23857283446705e-07, + "acceleration": 2.768457250112988e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.624119810614502e-06, + "observation_loss": 4.337899554229807e-06, + "chamfer": 3.6287140119384276e-06, + "track": 7.091854854479607e-07, + "acceleration": 2.862203132281138e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.553514827421168e-06, + "observation_loss": 4.300447926652851e-06, + "chamfer": 3.603114919314976e-06, + "track": 6.973331778681313e-07, + "acceleration": 2.5306670181635127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.5427418626786675e-06, + "observation_loss": 4.290153810870834e-06, + "chamfer": 3.5915427361032926e-06, + "track": 6.986112452977977e-07, + "acceleration": 2.5258813707296213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.562173671729397e-06, + "observation_loss": 4.282975623937091e-06, + "chamfer": 3.5703183129953686e-06, + "track": 7.126573109417222e-07, + "acceleration": 2.7919810463572503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.706153958977666e-06, + "observation_loss": 4.417809122969629e-06, + "chamfer": 3.6624780932470458e-06, + "track": 7.553309728791646e-07, + "acceleration": 2.8834506338171195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.1846463975380175e-06, + "observation_loss": 4.792709205503343e-06, + "chamfer": 3.944851414416917e-06, + "track": 8.478577342430071e-07, + "acceleration": 3.9193722045638424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.325041456671897e-06, + "observation_loss": 5.061485353508033e-06, + "chamfer": 4.151884695602348e-06, + "track": 9.096008852793602e-07, + "acceleration": 2.6355618842899275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.529230293177534e-06, + "observation_loss": 5.088283614895772e-06, + "chamfer": 4.1783700908126775e-06, + "track": 9.099135240830947e-07, + "acceleration": 4.4094670670347114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.302898443915183e-06, + "observation_loss": 5.065473033027956e-06, + "chamfer": 4.169211024418473e-06, + "track": 8.962620654529019e-07, + "acceleration": 2.374256240500472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.445385795610491e-06, + "observation_loss": 5.138960204931209e-06, + "chamfer": 4.234759671817301e-06, + "track": 9.042004194270703e-07, + "acceleration": 3.064255622575729e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.610071639239322e-06, + "observation_loss": 5.283739938022336e-06, + "chamfer": 4.349538812675746e-06, + "track": 9.342012958768464e-07, + "acceleration": 3.26331871747243e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.761779448221205e-06, + "observation_loss": 5.4743632063036785e-06, + "chamfer": 4.499890565057285e-06, + "track": 9.744726412463933e-07, + "acceleration": 2.8741644086949236e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.050453521311283e-06, + "observation_loss": 5.706742285838118e-06, + "chamfer": 4.670056569011649e-06, + "track": 1.0366858305133064e-06, + "acceleration": 3.43711349160003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.063516593712848e-06, + "observation_loss": 5.79631660002633e-06, + "chamfer": 4.735777110909112e-06, + "track": 1.0605394891172182e-06, + "acceleration": 2.671997947345517e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.0839602156192996e-06, + "observation_loss": 5.915459951211233e-06, + "chamfer": 4.811742655874696e-06, + "track": 1.1037171816496993e-06, + "acceleration": 1.6850032125148573e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.302557721937774e-06, + "observation_loss": 6.1778373492415994e-06, + "chamfer": 5.001470071874792e-06, + "track": 1.17636716367997e-06, + "acceleration": 1.2472033006361016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.568310709553771e-06, + "observation_loss": 6.2818230617267545e-06, + "chamfer": 5.091188995720586e-06, + "track": 1.1906341796930064e-06, + "acceleration": 2.8648770467043505e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.178740932227811e-06, + "observation_loss": 5.996342679281952e-06, + "chamfer": 4.8863180381886195e-06, + "track": 1.1100245274064946e-06, + "acceleration": 1.8239819610244012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.807573870697524e-06, + "observation_loss": 5.654481356032193e-06, + "chamfer": 4.621729658538243e-06, + "track": 1.0327519248676253e-06, + "acceleration": 1.530926141413147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.938937192695448e-06, + "observation_loss": 5.661730028805323e-06, + "chamfer": 4.624701432476286e-06, + "track": 1.0370288237027125e-06, + "acceleration": 2.772073344203818e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.190082331158919e-06, + "observation_loss": 5.9462936405907385e-06, + "chamfer": 4.831390924664447e-06, + "track": 1.1149028296131291e-06, + "acceleration": 2.437886337247619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.2548515415983275e-06, + "observation_loss": 6.132875569164753e-06, + "chamfer": 4.957250439474592e-06, + "track": 1.1756252433769987e-06, + "acceleration": 1.2197584453588206e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.352432592393598e-06, + "observation_loss": 6.317848601611331e-06, + "chamfer": 5.092099854664411e-06, + "track": 1.2257487469469197e-06, + "acceleration": 3.458381669929622e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.4853411458898336e-06, + "observation_loss": 6.399101039278321e-06, + "chamfer": 5.149684511707164e-06, + "track": 1.2494166412579943e-06, + "acceleration": 8.624012792779467e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.5959161474893335e-06, + "observation_loss": 6.4446917349414434e-06, + "chamfer": 5.1833485485985875e-06, + "track": 1.2613433000296936e-06, + "acceleration": 1.5122458307814668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.779937848477857e-06, + "observation_loss": 6.57820601190906e-06, + "chamfer": 5.287708972900873e-06, + "track": 1.2904968116345117e-06, + "acceleration": 2.0173162340597628e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.207097951322794e-06, + "observation_loss": 7.044679477985483e-06, + "chamfer": 5.6346721066802274e-06, + "track": 1.4100071439315798e-06, + "acceleration": 1.624182885962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.815116077836137e-06, + "observation_loss": 7.678429938096087e-06, + "chamfer": 6.079387276258785e-06, + "track": 1.5990424344636267e-06, + "acceleration": 1.36686480800563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.370309842575807e-06, + "observation_loss": 8.083723514573649e-06, + "chamfer": 6.367599780787714e-06, + "track": 1.7161239611596102e-06, + "acceleration": 2.8658632800215855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.190419976017438e-06, + "observation_loss": 7.935234862088691e-06, + "chamfer": 6.27018607701757e-06, + "track": 1.6650491261316347e-06, + "acceleration": 2.551855686760973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.91368893260369e-06, + "observation_loss": 7.664461918466259e-06, + "chamfer": 6.087489509809529e-06, + "track": 1.5769726360304048e-06, + "acceleration": 2.492272415111074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.508145699830493e-06, + "observation_loss": 7.427737727994099e-06, + "chamfer": 5.913943823543377e-06, + "track": 1.5137941318243975e-06, + "acceleration": 8.040799315267577e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2789707701304e-06, + "observation_loss": 7.225857189041562e-06, + "chamfer": 5.762639375461731e-06, + "track": 1.4632178135798313e-06, + "acceleration": 5.311348161285423e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.260889105964452e-06, + "observation_loss": 7.198000275820959e-06, + "chamfer": 5.737670107919257e-06, + "track": 1.4603299405280268e-06, + "acceleration": 6.288871645665495e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.320365511986893e-06, + "observation_loss": 7.23679795555654e-06, + "chamfer": 5.758338375017047e-06, + "track": 1.4784594668526552e-06, + "acceleration": 8.356771985518208e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.3391634032304864e-06, + "observation_loss": 7.295324394362979e-06, + "chamfer": 5.798876827611821e-06, + "track": 1.4964474530643201e-06, + "acceleration": 4.383887031167433e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.552408078481676e-06, + "observation_loss": 7.3515593612683006e-06, + "chamfer": 5.82601342102862e-06, + "track": 1.5255461676133564e-06, + "acceleration": 2.008489161653415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.872962669353e-06, + "observation_loss": 7.411522801703541e-06, + "chamfer": 5.873177087778458e-06, + "track": 1.5383457139250822e-06, + "acceleration": 4.6143992449287907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.469366548524704e-06, + "observation_loss": 7.528906735387864e-06, + "chamfer": 5.946264991507633e-06, + "track": 1.5826416301933932e-06, + "acceleration": 9.40459926823678e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.023362508742139e-06, + "observation_loss": 7.668543730687816e-06, + "chamfer": 6.057017344573978e-06, + "track": 1.6115267271743505e-06, + "acceleration": 1.3548186643674853e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.607532436144538e-06, + "observation_loss": 7.813436241121963e-06, + "chamfer": 6.169022981339367e-06, + "track": 1.6444137145299464e-06, + "acceleration": 7.940959108054813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.473853995383251e-06, + "observation_loss": 8.144332241499797e-06, + "chamfer": 6.410522928490536e-06, + "track": 1.7338091993224225e-06, + "acceleration": 3.295213275578135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.862799404596444e-06, + "observation_loss": 8.610043551016133e-06, + "chamfer": 6.7301061790203676e-06, + "track": 1.8799370309352526e-06, + "acceleration": 2.527561662191147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.269776455766987e-06, + "observation_loss": 9.160261470242403e-06, + "chamfer": 7.103864845703356e-06, + "track": 2.0563970792863984e-06, + "acceleration": 1.0951508500056661e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.535993740428239e-06, + "observation_loss": 9.452768608753104e-06, + "chamfer": 7.299852768483106e-06, + "track": 2.1529156128963223e-06, + "acceleration": 8.322517430769949e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.921483979269397e-06, + "observation_loss": 9.655503163230605e-06, + "chamfer": 7.436420673911925e-06, + "track": 2.2190827166923555e-06, + "acceleration": 2.659804465565685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0012556231231429e-05, + "observation_loss": 9.850789865595289e-06, + "chamfer": 7.544378604507074e-06, + "track": 2.3064114884618903e-06, + "acceleration": 1.617667351183627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.005745343718445e-05, + "observation_loss": 9.946977115760092e-06, + "chamfer": 7.5959119385515805e-06, + "track": 2.3510654045821866e-06, + "acceleration": 1.1047620063209251e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0168009794142563e-05, + "observation_loss": 9.851666618487798e-06, + "chamfer": 7.533575171692064e-06, + "track": 2.318091674169409e-06, + "acceleration": 3.163436019804067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.040332244883757e-05, + "observation_loss": 9.611226232664194e-06, + "chamfer": 7.389892289211275e-06, + "track": 2.2213341708265943e-06, + "acceleration": 7.920960456431203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.000386146188248e-05, + "observation_loss": 9.529075214231852e-06, + "chamfer": 7.326625564019196e-06, + "track": 2.202449877586332e-06, + "acceleration": 4.747865887111402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.674279681348708e-06, + "observation_loss": 9.473155841988046e-06, + "chamfer": 7.287733296834631e-06, + "track": 2.185422545153415e-06, + "acceleration": 2.011235551435675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.892957677948289e-06, + "observation_loss": 9.331897672382183e-06, + "chamfer": 7.188501058408292e-06, + "track": 2.1433970687212422e-06, + "acceleration": 5.610597213490109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.1297818673483562e-05, + "observation_loss": 9.244751709047705e-06, + "chamfer": 7.10504673406831e-06, + "track": 2.139705429726746e-06, + "acceleration": 2.0530667370621813e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2406570021994412e-05, + "observation_loss": 9.523023436486255e-06, + "chamfer": 7.29787461750675e-06, + "track": 2.22514859160583e-06, + "acceleration": 2.8835465855081566e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.203543070005253e-05, + "observation_loss": 9.76917363004759e-06, + "chamfer": 7.457451374648372e-06, + "track": 2.3117224827728933e-06, + "acceleration": 2.26625707000494e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0557719178905245e-05, + "observation_loss": 9.6467283583479e-06, + "chamfer": 7.369120794464834e-06, + "track": 2.277607563883066e-06, + "acceleration": 9.10991104774439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0183486665482633e-05, + "observation_loss": 9.773658348422032e-06, + "chamfer": 7.450602424796671e-06, + "track": 2.3230561509990366e-06, + "acceleration": 4.098284591691481e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0167846085096244e-05, + "observation_loss": 9.933509318216238e-06, + "chamfer": 7.542748335254146e-06, + "track": 2.3907609829620924e-06, + "acceleration": 2.343368663559886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0320367437088862e-05, + "observation_loss": 1.0139889127458446e-05, + "chamfer": 7.649678991583642e-06, + "track": 2.4902096811274532e-06, + "acceleration": 1.804779117264843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0554354048508685e-05, + "observation_loss": 1.0353234756621532e-05, + "chamfer": 7.7590275395778e-06, + "track": 2.5942072170437314e-06, + "acceleration": 2.0111900767005864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0722736078605521e-05, + "observation_loss": 1.0643464520398993e-05, + "chamfer": 7.945624929561745e-06, + "track": 2.697839818210923e-06, + "acceleration": 7.927136635998977e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1076948794652708e-05, + "observation_loss": 1.0990359442075714e-05, + "chamfer": 8.175915354513563e-06, + "track": 2.814444542309502e-06, + "acceleration": 8.658915362502739e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1365284990461078e-05, + "observation_loss": 1.1248576811340172e-05, + "chamfer": 8.34661659609992e-06, + "track": 2.901959987866576e-06, + "acceleration": 1.16708363862017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1456217180239037e-05, + "observation_loss": 1.1346162864356302e-05, + "chamfer": 8.395204531552736e-06, + "track": 2.9509581054298906e-06, + "acceleration": 1.1005388245166614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1557293873920571e-05, + "observation_loss": 1.1428858670115005e-05, + "chamfer": 8.448534572380595e-06, + "track": 2.9803240977344103e-06, + "acceleration": 1.2843494801018096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.16503142635338e-05, + "observation_loss": 1.1503954738145694e-05, + "chamfer": 8.482745215587784e-06, + "track": 3.0212099773052614e-06, + "acceleration": 1.463594401229784e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1600124707911164e-05, + "observation_loss": 1.152081949840067e-05, + "chamfer": 8.481775694235694e-06, + "track": 3.0390435767913004e-06, + "acceleration": 7.930488266083557e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1761154382838868e-05, + "observation_loss": 1.1530672054504976e-05, + "chamfer": 8.490765139868017e-06, + "track": 3.0399064598896075e-06, + "acceleration": 2.304820156950882e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1719153008016292e-05, + "observation_loss": 1.160060037364019e-05, + "chamfer": 8.524260920239612e-06, + "track": 3.076339226026903e-06, + "acceleration": 1.1855295412033229e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1768538570322562e-05, + "observation_loss": 1.1679592716973275e-05, + "chamfer": 8.557866749470122e-06, + "track": 3.1217259675031528e-06, + "acceleration": 8.894558334304747e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1837500096589793e-05, + "observation_loss": 1.1742186870833393e-05, + "chamfer": 8.593110578658525e-06, + "track": 3.1490762921748683e-06, + "acceleration": 9.53132825998182e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1915883078472689e-05, + "observation_loss": 1.1830543371615931e-05, + "chamfer": 8.639378393127117e-06, + "track": 3.191164978488814e-06, + "acceleration": 8.533935869081688e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1889066627190914e-05, + "observation_loss": 1.17853842311888e-05, + "chamfer": 8.614555554231629e-06, + "track": 3.170828904330847e-06, + "acceleration": 1.0368271574634491e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1710080798366107e-05, + "observation_loss": 1.1619960787356831e-05, + "chamfer": 8.513121429132298e-06, + "track": 3.106839585598209e-06, + "acceleration": 9.011966284333539e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.305393857691948e-06, + "chamfer_mean": 5.710518465207315e-06, + "track_mean": 1.5740038404506624e-06, + "acceleration_mean": 1.020871578420272e-06, + "observation_score": 7.284522261841175e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4399481000000378 + }, + "score_arrays_file": "pass_scores/pass_end_0286.npz", + "score_arrays_sha256": "d1b3f757bb44961c44927149749dd28b299d7195c36d79d6710b919e4b7a9fd4" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0287.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0287.json new file mode 100644 index 0000000000000000000000000000000000000000..d8bf37a1988773418bc51334d8b98be17752481a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0287.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27552, + "completed_passes": 287, + "snapshot": "pass_end_0287", + "candidate": true, + "snapshot_arrays_sha256": "073ae303b54410e30c18b9f6fbbe1184d1f5514ae48511a00df4473ac0a7200e", + "score": 7.279480894813635e-06, + "score_result": { + "score": 7.279480894813635e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.875311793104629e-06, + 3.16102978104027e-06, + 3.3101582630479243e-06, + 3.7426825656439178e-06, + 4.269167220627423e-06, + 4.476518824958475e-06, + 4.244576302880887e-06, + 4.118034667044412e-06, + 4.055827048432548e-06, + 4.1636585592641495e-06, + 4.540176178124966e-06, + 4.997261839889688e-06, + 5.299251824908424e-06, + 5.5033697208273225e-06, + 5.49498599866638e-06, + 5.388594217947684e-06, + 5.040739779360592e-06, + 4.658050784200896e-06, + 4.478773917071521e-06, + 4.453097517398419e-06, + 4.416788215166889e-06, + 4.3336885937605985e-06, + 4.295235157769639e-06, + 4.285014256311115e-06, + 4.278906089894008e-06, + 4.415975126903504e-06, + 4.7926455408742186e-06, + 5.0617954912013374e-06, + 5.087339559395332e-06, + 5.062757281848462e-06, + 5.1373995120229665e-06, + 5.283495283947559e-06, + 5.476326805364806e-06, + 5.70987776882248e-06, + 5.799750397272874e-06, + 5.919186151004396e-06, + 6.18086960457731e-06, + 6.283603852352826e-06, + 5.995229457766982e-06, + 5.651315859722672e-06, + 5.657668680214556e-06, + 5.941636118222959e-06, + 6.127704637037823e-06, + 6.312936875474406e-06, + 6.394335287041031e-06, + 6.440046036004787e-06, + 6.573961400135886e-06, + 7.040357559162658e-06, + 7.673964319110382e-06, + 8.079124199866783e-06, + 7.930750143714249e-06, + 7.660698429390322e-06, + 7.424457635352155e-06, + 7.223105512821348e-06, + 7.195347279775888e-06, + 7.234122676891275e-06, + 7.292687769222539e-06, + 7.349105544562917e-06, + 7.4089357440243475e-06, + 7.526582066930132e-06, + 7.666436431463808e-06, + 7.810873285052367e-06, + 8.141983016685117e-06, + 8.608074494986795e-06, + 9.158557077171281e-06, + 9.451277946936898e-06, + 9.653564120526426e-06, + 9.848827176028863e-06, + 9.945275451173075e-06, + 9.849558409769088e-06, + 9.608157597540412e-06, + 9.525733730697539e-06, + 9.469600627198815e-06, + 9.325946848548483e-06, + 9.240320650860667e-06, + 9.510942618362606e-06, + 9.761928595253266e-06, + 9.639601557864808e-06, + 9.76842511590803e-06, + 9.925008271238767e-06, + 1.012920074572321e-05, + 1.0339613254473079e-05, + 1.0628074051055592e-05, + 1.0974012184306048e-05, + 1.1231504686293192e-05, + 1.1328695109114051e-05, + 1.1411397281335667e-05, + 1.1486924449854996e-05, + 1.1503114365041256e-05, + 1.151214473793516e-05, + 1.1581823855522089e-05, + 1.166043512057513e-05, + 1.1723202987923287e-05, + 1.1812873708549887e-05, + 1.1768190233851783e-05, + 1.1602871381910518e-05 + ] + ], + "episode_mean_losses": [ + 7.279480894813635e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.875311793104629e-06, + "observation_loss": 2.875311793104629e-06, + "chamfer": 2.439225454509142e-06, + "track": 4.3608631017377775e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.15268586948514e-05, + "observation_loss": 3.16102978104027e-06, + "chamfer": 2.6735883693618234e-06, + "track": 4.874414116784465e-07, + "acceleration": 3.836582982330583e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.351751390960999e-05, + "observation_loss": 3.3101582630479243e-06, + "chamfer": 2.8020915578963468e-06, + "track": 5.080667619949963e-07, + "acceleration": 2.0207355191814713e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0258921975037083e-05, + "observation_loss": 3.7426825656439178e-06, + "chamfer": 3.155872718707542e-06, + "track": 5.868097332495381e-07, + "acceleration": 6.516238954645814e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.351192951115081e-06, + "observation_loss": 4.269167220627423e-06, + "chamfer": 3.580103793865419e-06, + "track": 6.890633130751667e-07, + "acceleration": 2.0820257304876577e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.709460765501717e-06, + "observation_loss": 4.476518824958475e-06, + "chamfer": 3.745455387615948e-06, + "track": 7.310633236556896e-07, + "acceleration": 1.2329420542300795e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.9718037189450115e-06, + "observation_loss": 4.244576302880887e-06, + "chamfer": 3.5568875773606123e-06, + "track": 6.876888960505312e-07, + "acceleration": 7.272273592207057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.627464022632921e-06, + "observation_loss": 4.118034667044412e-06, + "chamfer": 3.456347485553124e-06, + "track": 6.616871814912884e-07, + "acceleration": 5.094291850582522e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.512202849582536e-06, + "observation_loss": 4.055827048432548e-06, + "chamfer": 3.4087111089320388e-06, + "track": 6.471158258136711e-07, + "acceleration": 4.5637560219802253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.476086360227782e-06, + "observation_loss": 4.1636585592641495e-06, + "chamfer": 3.4973750189237762e-06, + "track": 6.662833129666978e-07, + "acceleration": 3.124278293853422e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.667006578529254e-06, + "observation_loss": 4.540176178124966e-06, + "chamfer": 3.8034368117223494e-06, + "track": 7.367395369328733e-07, + "acceleration": 1.2683037198257807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.082946245238418e-06, + "observation_loss": 4.997261839889688e-06, + "chamfer": 4.169847670709714e-06, + "track": 8.274143397102307e-07, + "acceleration": 8.56842277130454e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.384436008171178e-06, + "observation_loss": 5.299251824908424e-06, + "chamfer": 4.4178959797136486e-06, + "track": 8.813556178211002e-07, + "acceleration": 8.518413352476273e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.6056974244711455e-06, + "observation_loss": 5.5033697208273225e-06, + "chamfer": 4.591402102960274e-06, + "track": 9.119676747104677e-07, + "acceleration": 1.0232782443608812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.5533441809529904e-06, + "observation_loss": 5.49498599866638e-06, + "chamfer": 4.588001047522994e-06, + "track": 9.069850648302236e-07, + "acceleration": 5.8358278209880154e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.5076511671359185e-06, + "observation_loss": 5.388594217947684e-06, + "chamfer": 4.501205239648698e-06, + "track": 8.873892056726618e-07, + "acceleration": 1.1905694918823428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.245594365987927e-06, + "observation_loss": 5.040739779360592e-06, + "chamfer": 4.21640424974612e-06, + "track": 8.243355864578916e-07, + "acceleration": 2.0485447294049663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.960635578754591e-06, + "observation_loss": 4.658050784200896e-06, + "chamfer": 3.900145202351268e-06, + "track": 7.579054113193706e-07, + "acceleration": 3.025848513971141e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.665742380893789e-06, + "observation_loss": 4.478773917071521e-06, + "chamfer": 3.7502838949876605e-06, + "track": 7.284902494575363e-07, + "acceleration": 1.869686911959434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.670119778893422e-06, + "observation_loss": 4.453097517398419e-06, + "chamfer": 3.725072701854515e-06, + "track": 7.280247018570662e-07, + "acceleration": 2.1702248886867892e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6936102080508135e-06, + "observation_loss": 4.416788215166889e-06, + "chamfer": 3.6934411582478788e-06, + "track": 7.233472842926858e-07, + "acceleration": 2.7682196446221496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.6188110900402535e-06, + "observation_loss": 4.3336885937605985e-06, + "chamfer": 3.6252529298508307e-06, + "track": 7.084357207531866e-07, + "acceleration": 2.8512269523162104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.550144694803748e-06, + "observation_loss": 4.295235157769639e-06, + "chamfer": 3.5988477975479327e-06, + "track": 6.96387473908544e-07, + "acceleration": 2.549095938775281e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.539519522950286e-06, + "observation_loss": 4.285014256311115e-06, + "chamfer": 3.5872967600880656e-06, + "track": 6.977173256927927e-07, + "acceleration": 2.545054655911372e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.559377430268796e-06, + "observation_loss": 4.278906089894008e-06, + "chamfer": 3.5668724649440264e-06, + "track": 7.120336249499815e-07, + "acceleration": 2.8047142563991656e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.702597834693734e-06, + "observation_loss": 4.415975126903504e-06, + "chamfer": 3.660898755697417e-06, + "track": 7.550762006758305e-07, + "acceleration": 2.866225372599729e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.182493623578921e-06, + "observation_loss": 4.7926455408742186e-06, + "chamfer": 3.944686795875896e-06, + "track": 8.479589155285794e-07, + "acceleration": 3.8984796901786467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.325327038008254e-06, + "observation_loss": 5.0617954912013374e-06, + "chamfer": 4.151979737798683e-06, + "track": 9.098157534026541e-07, + "acceleration": 2.635317457588826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.5248901844606735e-06, + "observation_loss": 5.087339559395332e-06, + "chamfer": 4.1774837882258e-06, + "track": 9.098558848563698e-07, + "acceleration": 4.375507387521793e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.298851647239644e-06, + "observation_loss": 5.062757281848462e-06, + "chamfer": 4.1670350583444815e-06, + "track": 8.957222803473996e-07, + "acceleration": 2.3609459276485723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.4459933380712755e-06, + "observation_loss": 5.1373995120229665e-06, + "chamfer": 4.233590971125523e-06, + "track": 9.038083703671873e-07, + "acceleration": 3.0859399657856557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.624453478958458e-06, + "observation_loss": 5.283495283947559e-06, + "chamfer": 4.349477876530727e-06, + "track": 9.340172368865751e-07, + "acceleration": 3.4095822343260807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.778455943072913e-06, + "observation_loss": 5.476326805364806e-06, + "chamfer": 4.5016313379164785e-06, + "track": 9.746954674483277e-07, + "acceleration": 3.0212925139494473e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.0849379224237055e-06, + "observation_loss": 5.70987776882248e-06, + "chamfer": 4.672762315749424e-06, + "track": 1.037115225699381e-06, + "acceleration": 3.7506015360122547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.092152034398168e-06, + "observation_loss": 5.799750397272874e-06, + "chamfer": 4.738752068078611e-06, + "track": 1.0609983291942626e-06, + "acceleration": 2.9240172239042295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.084954748075688e-06, + "observation_loss": 5.919186151004396e-06, + "chamfer": 4.8147749112104066e-06, + "track": 1.1044114671676653e-06, + "acceleration": 1.657687107581296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.308803676802199e-06, + "observation_loss": 6.18086960457731e-06, + "chamfer": 5.003847945772577e-06, + "track": 1.177021772491571e-06, + "acceleration": 1.2793385906206822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.566531283169752e-06, + "observation_loss": 6.283603852352826e-06, + "chamfer": 5.092481842439156e-06, + "track": 1.19112200991367e-06, + "acceleration": 2.829273739735072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.175215276016388e-06, + "observation_loss": 5.995229457766982e-06, + "chamfer": 4.885316229774617e-06, + "track": 1.1099133416792029e-06, + "acceleration": 1.7998593193624401e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.799527571070939e-06, + "observation_loss": 5.651315859722672e-06, + "chamfer": 4.619126684701769e-06, + "track": 1.0321891750209033e-06, + "acceleration": 1.4821156923972012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.930402949161362e-06, + "observation_loss": 5.657668680214556e-06, + "chamfer": 4.621399057214148e-06, + "track": 1.0362697366872453e-06, + "acceleration": 2.72734467898772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.182920515129808e-06, + "observation_loss": 5.941636118222959e-06, + "chamfer": 4.827672000828898e-06, + "track": 1.1139641173940618e-06, + "acceleration": 2.41284595858815e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.2482786233886145e-06, + "observation_loss": 6.127704637037823e-06, + "chamfer": 4.953172719979193e-06, + "track": 1.1745320307454676e-06, + "acceleration": 1.2057419951361226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.348077022266807e-06, + "observation_loss": 6.312936875474406e-06, + "chamfer": 5.088233137939824e-06, + "track": 1.2247038512214203e-06, + "acceleration": 3.514011126526384e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.480882348114392e-06, + "observation_loss": 6.394335287041031e-06, + "chamfer": 5.145923296367982e-06, + "track": 1.2484122180467239e-06, + "acceleration": 8.654719607648076e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.5914782680920325e-06, + "observation_loss": 6.440046036004787e-06, + "chamfer": 5.179682830203092e-06, + "track": 1.2603632058016956e-06, + "acceleration": 1.514320331352792e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.7762198341370095e-06, + "observation_loss": 6.573961400135886e-06, + "chamfer": 5.284425697027473e-06, + "track": 1.2895357031084131e-06, + "acceleration": 2.0225861874223483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.203542281786213e-06, + "observation_loss": 7.040357559162658e-06, + "chamfer": 5.631400199490599e-06, + "track": 1.4089573596720584e-06, + "acceleration": 1.63184722623555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.811097020749003e-06, + "observation_loss": 7.673964319110382e-06, + "chamfer": 6.076048066461226e-06, + "track": 1.5979159115886432e-06, + "acceleration": 1.3713281532545807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.365270332433283e-06, + "observation_loss": 8.079124199866783e-06, + "chamfer": 6.364372438838473e-06, + "track": 1.7147515336546348e-06, + "acceleration": 2.8614596203624387e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.185998012777418e-06, + "observation_loss": 7.930750143714249e-06, + "chamfer": 6.267056051001418e-06, + "track": 1.663693979025993e-06, + "acceleration": 2.552476985329122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.910209205874708e-06, + "observation_loss": 7.660698429390322e-06, + "chamfer": 6.084707365516806e-06, + "track": 1.5759911775603541e-06, + "acceleration": 2.495105491107097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.505116627726238e-06, + "observation_loss": 7.424457635352155e-06, + "chamfer": 5.911411790293641e-06, + "track": 1.5130459587453515e-06, + "acceleration": 8.065895684694624e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.276468750205822e-06, + "observation_loss": 7.223105512821348e-06, + "chamfer": 5.760512522101635e-06, + "track": 1.4625929907197133e-06, + "acceleration": 5.3363411467444166e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.2582238317409065e-06, + "observation_loss": 7.195347279775888e-06, + "chamfer": 5.735602826462127e-06, + "track": 1.4597444533137605e-06, + "acceleration": 6.287669407356589e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.317445579246851e-06, + "observation_loss": 7.234122676891275e-06, + "chamfer": 5.7561769608582836e-06, + "track": 1.4779454886593157e-06, + "acceleration": 8.332297340984951e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.336295766435796e-06, + "observation_loss": 7.292687769222539e-06, + "chamfer": 5.796744517283514e-06, + "track": 1.4959432519390248e-06, + "acceleration": 4.360820327065085e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.549661404482322e-06, + "observation_loss": 7.349105544562917e-06, + "chamfer": 5.823997980769491e-06, + "track": 1.525107336419751e-06, + "acceleration": 2.0055588834111404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.871278285165317e-06, + "observation_loss": 7.4089357440243475e-06, + "chamfer": 5.871027497050818e-06, + "track": 1.5379081332866917e-06, + "acceleration": 4.6234293904490187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.469736712868325e-06, + "observation_loss": 7.526582066930132e-06, + "chamfer": 5.944361873844173e-06, + "track": 1.5822201930859592e-06, + "acceleration": 9.431543048776803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.025741746881977e-06, + "observation_loss": 7.666436431463808e-06, + "chamfer": 6.055313406250207e-06, + "track": 1.6111232525872765e-06, + "acceleration": 1.3593049743576557e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.608182724856306e-06, + "observation_loss": 7.810873285052367e-06, + "chamfer": 6.166943421703763e-06, + "track": 1.643929977035441e-06, + "acceleration": 7.97309553490777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.473431989841629e-06, + "observation_loss": 8.141983016685117e-06, + "chamfer": 6.4086152633535676e-06, + "track": 1.7333680943920626e-06, + "acceleration": 3.3144931421702495e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.862652975949459e-06, + "observation_loss": 8.608074494986795e-06, + "chamfer": 6.728492735419422e-06, + "track": 1.8795818732542102e-06, + "acceleration": 2.5457845254095446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.268867870559916e-06, + "observation_loss": 9.158557077171281e-06, + "chamfer": 7.1024451244738884e-06, + "track": 2.0561114979500417e-06, + "acceleration": 1.1031115576543016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.5346913440153e-06, + "observation_loss": 9.451277946936898e-06, + "chamfer": 7.298680884559872e-06, + "track": 2.1525970623770263e-06, + "acceleration": 8.341314838844482e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.920143384078983e-06, + "observation_loss": 9.653564120526426e-06, + "chamfer": 7.434992312482791e-06, + "track": 2.2185713532962836e-06, + "acceleration": 2.665791214440105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.001128475763835e-05, + "observation_loss": 9.848827176028863e-06, + "chamfer": 7.542972525698133e-06, + "track": 2.3058544229570543e-06, + "acceleration": 1.624580221459837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0056308383354917e-05, + "observation_loss": 9.945275451173075e-06, + "chamfer": 7.594869657623349e-06, + "track": 2.3504055661760503e-06, + "acceleration": 1.1103283981128698e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0166077117901295e-05, + "observation_loss": 9.849558409769088e-06, + "chamfer": 7.5322072916605975e-06, + "track": 2.3173511181084905e-06, + "acceleration": 3.1651876497562625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0400310202385299e-05, + "observation_loss": 9.608157597540412e-06, + "chamfer": 7.38785820431076e-06, + "track": 2.2202996206033276e-06, + "acceleration": 7.921524343146302e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0000264410336968e-05, + "observation_loss": 9.525733730697539e-06, + "chamfer": 7.324440502998186e-06, + "track": 2.201293455073028e-06, + "acceleration": 4.7453059437430056e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.670978215581272e-06, + "observation_loss": 9.469600627198815e-06, + "chamfer": 7.285426818270935e-06, + "track": 2.184173581554205e-06, + "acceleration": 2.0137731837621686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.82084748102352e-06, + "observation_loss": 9.325946848548483e-06, + "chamfer": 7.184055903053377e-06, + "track": 2.1418911728687817e-06, + "acceleration": 4.949008598487126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0983217180182692e-05, + "observation_loss": 9.240320650860667e-06, + "chamfer": 7.102980816853233e-06, + "track": 2.1373393792600837e-06, + "acceleration": 1.7428961882615113e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2366654118523002e-05, + "observation_loss": 9.510942618362606e-06, + "chamfer": 7.289058885362465e-06, + "track": 2.221883505626465e-06, + "acceleration": 2.8557110454130452e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2075743143213913e-05, + "observation_loss": 9.761928595253266e-06, + "chamfer": 7.4523936746118125e-06, + "track": 2.309534465894103e-06, + "acceleration": 2.313814775334322e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.053352389135398e-05, + "observation_loss": 9.639601557864808e-06, + "chamfer": 7.364313205471262e-06, + "track": 2.2752881250198698e-06, + "acceleration": 8.939219355852401e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.018373131955741e-05, + "observation_loss": 9.76842511590803e-06, + "chamfer": 7.44694443710614e-06, + "track": 2.321480451428215e-06, + "acceleration": 4.1530603311912273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0143516192329116e-05, + "observation_loss": 9.925008271238767e-06, + "chamfer": 7.537272722402122e-06, + "track": 2.387735094089294e-06, + "acceleration": 2.1850794951205899e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0284536983817816e-05, + "observation_loss": 1.012920074572321e-05, + "chamfer": 7.643120625289157e-06, + "track": 2.486080575181404e-06, + "acceleration": 1.5533596808836592e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0518782801227644e-05, + "observation_loss": 1.0339613254473079e-05, + "chamfer": 7.750661097816192e-06, + "track": 2.5889521566568874e-06, + "acceleration": 1.7916951833285566e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0699021004256792e-05, + "observation_loss": 1.0628074051055592e-05, + "chamfer": 7.936412657727487e-06, + "track": 2.6916611659544287e-06, + "acceleration": 7.094684661979045e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1059604730689898e-05, + "observation_loss": 1.0974012184306048e-05, + "chamfer": 8.166152838384733e-06, + "track": 2.8078588911739644e-06, + "acceleration": 8.55929940257738e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1341265235387255e-05, + "observation_loss": 1.1231504686293192e-05, + "chamfer": 8.336539394804277e-06, + "track": 2.8949657462362666e-06, + "acceleration": 1.0976069120260945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.143252393376315e-05, + "observation_loss": 1.1328695109114051e-05, + "chamfer": 8.384793545701541e-06, + "track": 2.9439017907861853e-06, + "acceleration": 1.0382852622115024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.153925677499501e-05, + "observation_loss": 1.1411397281335667e-05, + "chamfer": 8.438202712568454e-06, + "track": 2.9731941140198614e-06, + "acceleration": 1.2785937997250585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1632414498308208e-05, + "observation_loss": 1.1486924449854996e-05, + "chamfer": 8.472919034829829e-06, + "track": 3.0140056423988426e-06, + "acceleration": 1.4548963633842504e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1579219062696211e-05, + "observation_loss": 1.1503114365041256e-05, + "chamfer": 8.471475666738115e-06, + "track": 3.03163824355579e-06, + "acceleration": 7.610466923324566e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1738053217413835e-05, + "observation_loss": 1.151214473793516e-05, + "chamfer": 8.479866664856672e-06, + "track": 3.0322783004521625e-06, + "acceleration": 2.2590886317175318e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1698513844748959e-05, + "observation_loss": 1.1581823855522089e-05, + "chamfer": 8.513348802807741e-06, + "track": 3.068474597966997e-06, + "acceleration": 1.166898115911863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1749316399800591e-05, + "observation_loss": 1.166043512057513e-05, + "chamfer": 8.546691788069438e-06, + "track": 3.1137435598793672e-06, + "acceleration": 8.888123659289704e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1818277926067822e-05, + "observation_loss": 1.1723202987923287e-05, + "chamfer": 8.582103873777669e-06, + "track": 3.141099114145618e-06, + "acceleration": 9.507521525620177e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1898507182195317e-05, + "observation_loss": 1.1812873708549887e-05, + "chamfer": 8.629574949736707e-06, + "track": 3.1832985314395046e-06, + "acceleration": 8.563311837406218e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.187291036330862e-05, + "observation_loss": 1.1768190233851783e-05, + "chamfer": 8.605123184679542e-06, + "track": 3.1630672765459167e-06, + "acceleration": 1.0471978129089621e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1693322448991239e-05, + "observation_loss": 1.1602871381910518e-05, + "chamfer": 8.503498065692838e-06, + "track": 3.099373088844004e-06, + "acceleration": 9.045063364965245e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.295905599216743e-06, + "chamfer_mean": 5.707183357609817e-06, + "track_mean": 1.5722975084860498e-06, + "acceleration_mean": 1.016424700554334e-06, + "observation_score": 7.279480894813635e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4090624740001658 + }, + "score_arrays_file": "pass_scores/pass_end_0287.npz", + "score_arrays_sha256": "1617555fbe566bcbf5d46060be6420b23bd85f5590607416faf72109ac4109d0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0288.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0288.json new file mode 100644 index 0000000000000000000000000000000000000000..772590d388aff146a659abb288e8daa053ffbe66 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0288.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27648, + "completed_passes": 288, + "snapshot": "pass_end_0288", + "candidate": true, + "snapshot_arrays_sha256": "6b491142708d8192cb18f4046c3e1311ca21a3c4888270f95fba788703d98989", + "score": 7.275986997494026e-06, + "score_result": { + "score": 7.275986997494026e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8750971523550106e-06, + 3.1608678909833543e-06, + 3.3083751986850984e-06, + 3.7409420201584e-06, + 4.266981704859063e-06, + 4.474638899409911e-06, + 4.242312570568174e-06, + 4.114996045245789e-06, + 4.0529557736590505e-06, + 4.160911885264795e-06, + 4.537784661806654e-06, + 4.9953828238358255e-06, + 5.298116320773261e-06, + 5.502547992364271e-06, + 5.494784090842586e-06, + 5.3882326938037295e-06, + 5.039633379055886e-06, + 4.656336386688054e-06, + 4.476479716686299e-06, + 4.451105269254185e-06, + 4.414534487295896e-06, + 4.330378942540847e-06, + 4.291153345548082e-06, + 4.2809906517504714e-06, + 4.2756273614941165e-06, + 4.414338945935015e-06, + 4.792575055034831e-06, + 5.062237050879048e-06, + 5.086684723210055e-06, + 5.060340299678501e-06, + 5.136322670296067e-06, + 5.282965503283776e-06, + 5.478938874148298e-06, + 5.713006430596579e-06, + 5.8030273066833615e-06, + 5.922546733927447e-06, + 6.183511686685961e-06, + 6.284552910074126e-06, + 5.9938488448096905e-06, + 5.647822035825811e-06, + 5.652833806379931e-06, + 5.936290108365938e-06, + 6.122389095253311e-06, + 6.3074894569581375e-06, + 6.388666861312231e-06, + 6.435049726860598e-06, + 6.569934157596435e-06, + 7.036498573143035e-06, + 7.669625119888224e-06, + 8.074335710261948e-06, + 7.926556463644374e-06, + 7.657564310648013e-06, + 7.422044745908352e-06, + 7.221196938189678e-06, + 7.193662440840853e-06, + 7.232479674712522e-06, + 7.291598194569815e-06, + 7.348343842750182e-06, + 7.408440524159232e-06, + 7.526538865931798e-06, + 7.66710945754312e-06, + 7.812358489900362e-06, + 8.144490493577905e-06, + 8.61157604958862e-06, + 9.163097274722531e-06, + 9.456651241634972e-06, + 9.659885108703747e-06, + 9.8558230092749e-06, + 9.953357221093029e-06, + 9.857519216893706e-06, + 9.615837370802183e-06, + 9.532738658890594e-06, + 9.47609260038007e-06, + 9.33006958803162e-06, + 9.244844477507286e-06, + 9.506949936621822e-06, + 9.760679859027732e-06, + 9.638420124247205e-06, + 9.766656148713082e-06, + 9.919011972669978e-06, + 1.0119923899765126e-05, + 1.0327837117074523e-05, + 1.0613416634441819e-05, + 1.0958061466226354e-05, + 1.1214206097065471e-05, + 1.1310537047393154e-05, + 1.1392385204089805e-05, + 1.1468190677987877e-05, + 1.14824124466395e-05, + 1.1491334589663893e-05, + 1.1561478459043428e-05, + 1.163998240372166e-05, + 1.1702172741934191e-05, + 1.1792729310400318e-05, + 1.1748550605261698e-05, + 1.1582939805521164e-05 + ] + ], + "episode_mean_losses": [ + 7.275986997494026e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8750971523550106e-06, + "observation_loss": 2.8750971523550106e-06, + "chamfer": 2.439036279611173e-06, + "track": 4.3606087274383754e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1520896047586575e-05, + "observation_loss": 3.1608678909833543e-06, + "chamfer": 2.6734446691989433e-06, + "track": 4.874233354712487e-07, + "acceleration": 3.836002724710852e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3499320377595723e-05, + "observation_loss": 3.3083751986850984e-06, + "chamfer": 2.8006077172904043e-06, + "track": 5.07767538238113e-07, + "acceleration": 2.0190944269415922e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0252321771986317e-05, + "observation_loss": 3.7409420201584e-06, + "chamfer": 3.1544341254630126e-06, + "track": 5.865079515388061e-07, + "acceleration": 6.511379524454242e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.330560609058011e-06, + "observation_loss": 4.266981704859063e-06, + "chamfer": 3.5783136809186544e-06, + "track": 6.88667853410152e-07, + "acceleration": 2.063578676825273e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.702653197658947e-06, + "observation_loss": 4.474638899409911e-06, + "chamfer": 3.7439085645019077e-06, + "track": 7.30730334908003e-07, + "acceleration": 1.2280141845621984e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.9664886319078505e-06, + "observation_loss": 4.242312570568174e-06, + "chamfer": 3.555003786459565e-06, + "track": 6.873088977954467e-07, + "acceleration": 7.241758908094198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.625446763384389e-06, + "observation_loss": 4.114996045245789e-06, + "chamfer": 3.453821591392625e-06, + "track": 6.611743401663261e-07, + "acceleration": 5.104507749820186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.509531208896078e-06, + "observation_loss": 4.0529557736590505e-06, + "chamfer": 3.406335508771008e-06, + "track": 6.466203217314614e-07, + "acceleration": 4.5657529312848055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.473189164855285e-06, + "observation_loss": 4.160911885264795e-06, + "chamfer": 3.4950830922753084e-06, + "track": 6.658289066763246e-07, + "acceleration": 3.122771374819422e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.664770131057594e-06, + "observation_loss": 4.537784661806654e-06, + "chamfer": 3.8014316032786155e-06, + "track": 7.363530585280387e-07, + "acceleration": 1.2698534135324735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.0812927838705946e-06, + "observation_loss": 4.9953828238358255e-06, + "chamfer": 4.168275154370349e-06, + "track": 8.271077831523144e-07, + "acceleration": 8.591015898673504e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.383454663387965e-06, + "observation_loss": 5.298116320773261e-06, + "chamfer": 4.416940555529436e-06, + "track": 8.811756515569868e-07, + "acceleration": 8.533825734957645e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.604898888122989e-06, + "observation_loss": 5.502547992364271e-06, + "chamfer": 4.590727257891558e-06, + "track": 9.118209050029691e-07, + "acceleration": 1.023508033881626e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.553044047701405e-06, + "observation_loss": 5.494784090842586e-06, + "chamfer": 4.587850980897201e-06, + "track": 9.069328825717093e-07, + "acceleration": 5.8260066992943393e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.507185960595962e-06, + "observation_loss": 5.3882326938037295e-06, + "chamfer": 4.500935574469622e-06, + "track": 8.87297233020945e-07, + "acceleration": 1.1895327389765953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.2443733693507966e-06, + "observation_loss": 5.039633379055886e-06, + "chamfer": 4.215502485749312e-06, + "track": 8.241310069934116e-07, + "acceleration": 2.0474014661431283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.958842964697396e-06, + "observation_loss": 4.656336386688054e-06, + "chamfer": 3.898754130204907e-06, + "track": 7.575824270134035e-07, + "acceleration": 3.025065780093428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.662385435949545e-06, + "observation_loss": 4.476479716686299e-06, + "chamfer": 3.7483905543922447e-06, + "track": 7.280892191374733e-07, + "acceleration": 1.85905932426067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.6668546929140575e-06, + "observation_loss": 4.451105269254185e-06, + "chamfer": 3.7234249248285778e-06, + "track": 7.276805149558641e-07, + "acceleration": 2.1574948050329112e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.691865797212813e-06, + "observation_loss": 4.414534487295896e-06, + "chamfer": 3.6915741929988144e-06, + "track": 7.229601237668248e-07, + "acceleration": 2.773311678083701e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.615087163983844e-06, + "observation_loss": 4.330378942540847e-06, + "chamfer": 3.6225401345291175e-06, + "track": 7.078388080117293e-07, + "acceleration": 2.8470805091274087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.548249762592604e-06, + "observation_loss": 4.291153345548082e-06, + "chamfer": 3.5955265502707334e-06, + "track": 6.956266247470921e-07, + "acceleration": 2.5709624651426566e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.538437224255176e-06, + "observation_loss": 4.2809906517504714e-06, + "chamfer": 3.583980515031726e-06, + "track": 6.970099093450699e-07, + "acceleration": 2.5744643039615767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.558011823974084e-06, + "observation_loss": 4.2756273614941165e-06, + "chamfer": 3.564086227925145e-06, + "track": 7.115410198821337e-07, + "acceleration": 2.8238457616680535e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.699964847532101e-06, + "observation_loss": 4.414338945935015e-06, + "chamfer": 3.6595031360775465e-06, + "track": 7.548357530140493e-07, + "acceleration": 2.856256742234109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.181055257708067e-06, + "observation_loss": 4.792575055034831e-06, + "chamfer": 3.944532181776594e-06, + "track": 8.480429301016557e-07, + "acceleration": 3.884802026732359e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.325498477759538e-06, + "observation_loss": 5.062237050879048e-06, + "chamfer": 4.152178917138372e-06, + "track": 9.1005796321042e-07, + "acceleration": 2.632613700370712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.5202399380505085e-06, + "observation_loss": 5.086684723210055e-06, + "chamfer": 4.176818492851453e-06, + "track": 9.098661735151836e-07, + "acceleration": 4.3355535694900027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2960144785174634e-06, + "observation_loss": 5.060340299678501e-06, + "chamfer": 4.1651082938187756e-06, + "track": 8.95232062703144e-07, + "acceleration": 2.356741930498174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.447082003229298e-06, + "observation_loss": 5.136322670296067e-06, + "chamfer": 4.232802893966436e-06, + "track": 9.035199468598876e-07, + "acceleration": 3.107591908246832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.640909876092337e-06, + "observation_loss": 5.282965503283776e-06, + "chamfer": 4.3491850192367565e-06, + "track": 9.337804840470199e-07, + "acceleration": 3.579445149171079e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.798218353447737e-06, + "observation_loss": 5.478938874148298e-06, + "chamfer": 4.503888703766279e-06, + "track": 9.750500566951814e-07, + "acceleration": 3.192796498296957e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.128238055680413e-06, + "observation_loss": 5.713006430596579e-06, + "chamfer": 4.67543304694118e-06, + "track": 1.0375732699685614e-06, + "acceleration": 4.152314829752868e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.129691428213846e-06, + "observation_loss": 5.8030273066833615e-06, + "chamfer": 4.741558313980931e-06, + "track": 1.0614692200761056e-06, + "acceleration": 3.266643204824504e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.090685019444209e-06, + "observation_loss": 5.922546733927447e-06, + "chamfer": 4.817477474716725e-06, + "track": 1.105069486584398e-06, + "acceleration": 1.681384418361631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.318521172943292e-06, + "observation_loss": 6.183511686685961e-06, + "chamfer": 5.005935690860497e-06, + "track": 1.1775758821386262e-06, + "acceleration": 1.350096425767333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.558172572113108e-06, + "observation_loss": 6.284552910074126e-06, + "chamfer": 5.0931571422552224e-06, + "track": 1.1913958815057413e-06, + "acceleration": 2.7361977572581964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.17155865256791e-06, + "observation_loss": 5.9938488448096905e-06, + "chamfer": 4.884092504653381e-06, + "track": 1.109756453843147e-06, + "acceleration": 1.7770965143881767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.790996056020958e-06, + "observation_loss": 5.647822035825811e-06, + "chamfer": 4.6162117541825864e-06, + "track": 1.0316100542695494e-06, + "acceleration": 1.4317423335796775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.921539468545234e-06, + "observation_loss": 5.652833806379931e-06, + "chamfer": 4.617443664756138e-06, + "track": 1.0353901416237932e-06, + "acceleration": 2.687056621653028e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.175435373734217e-06, + "observation_loss": 5.936290108365938e-06, + "chamfer": 4.82337964058388e-06, + "track": 1.1129106951557333e-06, + "acceleration": 2.3914523694656964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.242292784008896e-06, + "observation_loss": 6.122389095253311e-06, + "chamfer": 4.948929017700721e-06, + "track": 1.173460304926266e-06, + "acceleration": 1.1990366033387545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.342874712572666e-06, + "observation_loss": 6.3074894569581375e-06, + "chamfer": 5.083875294076279e-06, + "track": 1.2236139355081832e-06, + "acceleration": 3.5385156138545426e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.474616384366527e-06, + "observation_loss": 6.388666861312231e-06, + "chamfer": 5.1413931032584514e-06, + "track": 1.2472736443669419e-06, + "acceleration": 8.594972200626216e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.587026746274205e-06, + "observation_loss": 6.435049726860598e-06, + "chamfer": 5.175730166229187e-06, + "track": 1.2593196743182489e-06, + "acceleration": 1.519769199376242e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.772160759282997e-06, + "observation_loss": 6.569934157596435e-06, + "chamfer": 5.28130522070569e-06, + "track": 1.28862870951707e-06, + "acceleration": 2.022264311563049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.19910349289421e-06, + "observation_loss": 7.036498573143035e-06, + "chamfer": 5.628452072414802e-06, + "track": 1.4080462733545573e-06, + "acceleration": 1.6260483448604646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.807717338437214e-06, + "observation_loss": 7.669625119888224e-06, + "chamfer": 6.072799351386493e-06, + "track": 1.596825995875406e-06, + "acceleration": 1.3809230381411908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.360520951100625e-06, + "observation_loss": 8.074335710261948e-06, + "chamfer": 6.36095955997007e-06, + "track": 1.7133763776655542e-06, + "acceleration": 2.861849850432918e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.183388672478031e-06, + "observation_loss": 7.926556463644374e-06, + "chamfer": 6.264100647968007e-06, + "track": 1.662455815676367e-06, + "acceleration": 2.568325783158798e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.907093277026433e-06, + "observation_loss": 7.657564310648013e-06, + "chamfer": 6.08246773481369e-06, + "track": 1.5750965758343227e-06, + "acceleration": 2.4952899480013e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.503007964260178e-06, + "observation_loss": 7.422044745908352e-06, + "chamfer": 5.909590527153341e-06, + "track": 1.5124543324418482e-06, + "acceleration": 8.09630620324242e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.27462611394003e-06, + "observation_loss": 7.221196938189678e-06, + "chamfer": 5.759062332799658e-06, + "track": 1.4621346053900197e-06, + "acceleration": 5.3429022983664254e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.256822755152825e-06, + "observation_loss": 7.193662440840853e-06, + "chamfer": 5.734343631047523e-06, + "track": 1.459318696106493e-06, + "acceleration": 6.316024325769831e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.3162568696716335e-06, + "observation_loss": 7.232479674712522e-06, + "chamfer": 5.754910944233416e-06, + "track": 1.4775686167922686e-06, + "acceleration": 8.377723759167566e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.3354062806174625e-06, + "observation_loss": 7.291598194569815e-06, + "chamfer": 5.795923698315164e-06, + "track": 1.4956746099414886e-06, + "acceleration": 4.380796525538244e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.549030669906642e-06, + "observation_loss": 7.348343842750182e-06, + "chamfer": 5.823450919706374e-06, + "track": 1.5248930367306457e-06, + "acceleration": 2.0068664241534862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.871978596085683e-06, + "observation_loss": 7.408440524159232e-06, + "chamfer": 5.8706409618025646e-06, + "track": 1.5377996760435053e-06, + "acceleration": 4.635376456008089e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.472237823298201e-06, + "observation_loss": 7.526538865931798e-06, + "chamfer": 5.944393251411384e-06, + "track": 1.5821456145204138e-06, + "acceleration": 9.456990710532409e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.029030479723588e-06, + "observation_loss": 7.66710945754312e-06, + "chamfer": 6.055862741050078e-06, + "track": 1.61124683017988e-06, + "acceleration": 1.3619212495541433e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.610866643721238e-06, + "observation_loss": 7.812358489900362e-06, + "chamfer": 6.168045729282312e-06, + "track": 1.6443128743048874e-06, + "acceleration": 7.985079264472006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.47655701363692e-06, + "observation_loss": 8.144490493577905e-06, + "chamfer": 6.410467449313728e-06, + "track": 1.7340229305773391e-06, + "acceleration": 3.3206694638465706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.866298230714165e-06, + "observation_loss": 8.61157604958862e-06, + "chamfer": 6.731014764227439e-06, + "track": 1.8805611716743442e-06, + "acceleration": 2.547218116433214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.273638170270715e-06, + "observation_loss": 9.163097274722531e-06, + "chamfer": 7.105718395905569e-06, + "track": 2.057378651443287e-06, + "acceleration": 1.1054098081331176e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.54055485635763e-06, + "observation_loss": 9.456651241634972e-06, + "chamfer": 7.302588073798688e-06, + "track": 2.1540631678362843e-06, + "acceleration": 8.390334471641836e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.9267181212781e-06, + "observation_loss": 9.659885108703747e-06, + "chamfer": 7.439629825967131e-06, + "track": 2.220255737483967e-06, + "acceleration": 2.6683321152631834e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0018614375439938e-05, + "observation_loss": 9.8558230092749e-06, + "chamfer": 7.548042049165815e-06, + "track": 2.3077814148564357e-06, + "acceleration": 1.627916503821325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0064916750707198e-05, + "observation_loss": 9.953357221093029e-06, + "chamfer": 7.6008186624676455e-06, + "track": 2.3525381038780324e-06, + "acceleration": 1.1155951540331444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.017519571178127e-05, + "observation_loss": 9.857519216893706e-06, + "chamfer": 7.538069439760875e-06, + "track": 2.3194497771328315e-06, + "acceleration": 3.176762959355983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.040943698171759e-05, + "observation_loss": 9.615837370802183e-06, + "chamfer": 7.39344977773726e-06, + "track": 2.2223873656912474e-06, + "acceleration": 7.935997246022453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0007468517869711e-05, + "observation_loss": 9.532738658890594e-06, + "chamfer": 7.3295741458423436e-06, + "track": 2.2031642856745748e-06, + "acceleration": 4.747295463403134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.678422429715283e-06, + "observation_loss": 9.47609260038007e-06, + "chamfer": 7.2900857048807666e-06, + "track": 2.186006895499304e-06, + "acceleration": 2.023302840825636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.772023076948244e-06, + "observation_loss": 9.33006958803162e-06, + "chamfer": 7.186586117313709e-06, + "track": 2.1434832433442352e-06, + "acceleration": 4.4195311943440174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.074424471880775e-05, + "observation_loss": 9.244844477507286e-06, + "chamfer": 7.107013516360894e-06, + "track": 2.137831415893743e-06, + "acceleration": 1.4994004686741391e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.236384741787333e-05, + "observation_loss": 9.506949936621822e-06, + "chamfer": 7.285699666681467e-06, + "track": 2.2212504973140312e-06, + "acceleration": 2.8568977086251834e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2138868441979866e-05, + "observation_loss": 9.760679859027732e-06, + "chamfer": 7.451160854543559e-06, + "track": 2.3095187771104975e-06, + "acceleration": 2.378188355578459e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0532022315601353e-05, + "observation_loss": 9.638420124247205e-06, + "chamfer": 7.363500117207877e-06, + "track": 2.2749202344130026e-06, + "acceleration": 8.936025892580801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0194327842327766e-05, + "observation_loss": 9.766656148713082e-06, + "chamfer": 7.44542603570153e-06, + "track": 2.3212298856378766e-06, + "acceleration": 4.2767149466271803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0123056199518032e-05, + "observation_loss": 9.919011972669978e-06, + "chamfer": 7.533318239438813e-06, + "track": 2.385693505857489e-06, + "acceleration": 2.040443405348924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0251696039631497e-05, + "observation_loss": 1.0119923899765126e-05, + "chamfer": 7.637235285073984e-06, + "track": 2.482688159943791e-06, + "acceleration": 1.3177208302295185e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0488660336704925e-05, + "observation_loss": 1.0327837117074523e-05, + "chamfer": 7.743366040813271e-06, + "track": 2.5844713036349276e-06, + "acceleration": 1.608235180583506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0679087608878035e-05, + "observation_loss": 1.0613416634441819e-05, + "chamfer": 7.927298611321021e-06, + "track": 2.6861182504944736e-06, + "acceleration": 6.567123733702829e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1044649909308646e-05, + "observation_loss": 1.0958061466226354e-05, + "chamfer": 8.156478543241974e-06, + "track": 2.8015831503580557e-06, + "acceleration": 8.658871308853122e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1318232282064855e-05, + "observation_loss": 1.1214206097065471e-05, + "chamfer": 8.326212991960347e-06, + "track": 2.887992877731449e-06, + "acceleration": 1.0402652605989715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1408478712837677e-05, + "observation_loss": 1.1310537047393154e-05, + "chamfer": 8.373724995180964e-06, + "track": 2.9368118248385144e-06, + "acceleration": 9.794207755930984e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1519360668899026e-05, + "observation_loss": 1.1392385204089805e-05, + "chamfer": 8.426792192040011e-06, + "track": 2.965593012049794e-06, + "acceleration": 1.269752942789637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1613431524892803e-05, + "observation_loss": 1.1468190677987877e-05, + "chamfer": 8.461704055662267e-06, + "track": 3.006486849699286e-06, + "acceleration": 1.4524088953749015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1553975127753802e-05, + "observation_loss": 1.14824124466395e-05, + "chamfer": 8.459078344458248e-06, + "track": 3.023333647433901e-06, + "acceleration": 7.156300796395954e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.170964151242515e-05, + "observation_loss": 1.1491334589663893e-05, + "chamfer": 8.467298357572872e-06, + "track": 3.024036232091021e-06, + "acceleration": 2.1830683749612945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1674393135763239e-05, + "observation_loss": 1.1561478459043428e-05, + "chamfer": 8.501176125719212e-06, + "track": 3.0603025606978917e-06, + "acceleration": 1.1291449197869952e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1728607205441222e-05, + "observation_loss": 1.163998240372166e-05, + "chamfer": 8.534479093214031e-06, + "track": 3.10550376525498e-06, + "acceleration": 8.862524225605739e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1797307706729043e-05, + "observation_loss": 1.1702172741934191e-05, + "chamfer": 8.569503734179307e-06, + "track": 3.1326690077548847e-06, + "acceleration": 9.513485110801412e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1878554687427823e-05, + "observation_loss": 1.1792729310400318e-05, + "chamfer": 8.617951607448049e-06, + "track": 3.1747777029522695e-06, + "acceleration": 8.582529886780321e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1853481737489346e-05, + "observation_loss": 1.1748550605261698e-05, + "chamfer": 8.594053724664263e-06, + "track": 3.154496880597435e-06, + "acceleration": 1.0493068458572452e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1673098924802616e-05, + "observation_loss": 1.1582939805521164e-05, + "chamfer": 8.491858352499548e-06, + "track": 3.0910812256479403e-06, + "acceleration": 9.01592116520078e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.28982300286422e-06, + "chamfer_mean": 5.7049505054844e-06, + "track_mean": 1.5710364967465769e-06, + "acceleration_mean": 1.0138359907892653e-06, + "observation_score": 7.275986997494026e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.428079291999893 + }, + "score_arrays_file": "pass_scores/pass_end_0288.npz", + "score_arrays_sha256": "3bf110216ee6d531b698014e224aa63d807d74a1ce02f40d59a240c40528b61d" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0289.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0289.json new file mode 100644 index 0000000000000000000000000000000000000000..bbfc4bf852707d57c1cbfdcf433667ff47bb9b07 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0289.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27744, + "completed_passes": 289, + "snapshot": "pass_end_0289", + "candidate": true, + "snapshot_arrays_sha256": "348694b4fcba9f1fab312eebe715f1e72fd3a6042bd09275e772c5c380913ab8", + "score": 7.272668230010974e-06, + "score_result": { + "score": 7.272668230010974e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8749673219863325e-06, + 3.1606996344635263e-06, + 3.306698090455029e-06, + 3.7391539535747143e-06, + 4.264630206307629e-06, + 4.472543423617026e-06, + 4.239648660586681e-06, + 4.111351245228434e-06, + 4.04992397307069e-06, + 4.157900548307225e-06, + 4.53502252639737e-06, + 4.9930199566006195e-06, + 5.296147719491273e-06, + 5.501257419382455e-06, + 5.493729986483231e-06, + 5.386877091950737e-06, + 5.037808932684129e-06, + 4.654034910345217e-06, + 4.474023626244161e-06, + 4.448878826224245e-06, + 4.411729150888277e-06, + 4.326500857132487e-06, + 4.28682778874645e-06, + 4.277289008314256e-06, + 4.273009835742414e-06, + 4.413396709423978e-06, + 4.793195785168791e-06, + 5.063213393441401e-06, + 5.086642886453774e-06, + 5.058934675616911e-06, + 5.135840183356777e-06, + 5.283391146804206e-06, + 5.481500011228491e-06, + 5.716339728678577e-06, + 5.806124136142898e-06, + 5.9259787121845875e-06, + 6.187170583871193e-06, + 6.286997177085141e-06, + 5.993481408950174e-06, + 5.644996235787403e-06, + 5.6488747759431135e-06, + 5.9314661484677345e-06, + 6.117462362453807e-06, + 6.302633664745372e-06, + 6.383513209584635e-06, + 6.430212579289218e-06, + 6.5660888139973395e-06, + 7.032300800347002e-06, + 7.664563781872857e-06, + 8.068558599916287e-06, + 7.921405995148234e-06, + 7.653333341295365e-06, + 7.418970199069008e-06, + 7.219102826638846e-06, + 7.192007160483627e-06, + 7.231108156702248e-06, + 7.290600933629321e-06, + 7.347418431891128e-06, + 7.40753148420481e-06, + 7.526106401201105e-06, + 7.66708399169147e-06, + 7.81233211455401e-06, + 8.144897037709597e-06, + 8.612571946287062e-06, + 9.16464068723144e-06, + 9.45878946367884e-06, + 9.66264633461833e-06, + 9.858873454504646e-06, + 9.95676418824587e-06, + 9.861003491096199e-06, + 9.618769581720699e-06, + 9.535028766549658e-06, + 9.47802618611604e-06, + 9.3303160610958e-06, + 9.247039997717366e-06, + 9.503401997790206e-06, + 9.759551176102832e-06, + 9.637007678975351e-06, + 9.765277354745194e-06, + 9.915154805639759e-06, + 1.0112673408002593e-05, + 1.0318041859136429e-05, + 1.0600975656416267e-05, + 1.0944921086775139e-05, + 1.1199945220141672e-05, + 1.1295310287096072e-05, + 1.1376581824151799e-05, + 1.145376700151246e-05, + 1.1467303920653649e-05, + 1.1475754945422523e-05, + 1.1546519999683369e-05, + 1.1624610124272294e-05, + 1.1686818652378861e-05, + 1.1777657164202537e-05, + 1.1733877727237996e-05, + 1.1568077752599493e-05 + ] + ], + "episode_mean_losses": [ + 7.272668230010974e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8749673219863325e-06, + "observation_loss": 2.8749673219863325e-06, + "chamfer": 2.4389205464103725e-06, + "track": 4.3604666188912233e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.151729081058875e-05, + "observation_loss": 3.1606996344635263e-06, + "chamfer": 2.6732950573205017e-06, + "track": 4.874044634561869e-07, + "acceleration": 3.835658935713582e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3487431462854147e-05, + "observation_loss": 3.306698090455029e-06, + "chamfer": 2.79921027868113e-06, + "track": 5.07487811773899e-07, + "acceleration": 2.0180732462904416e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.024874745780835e-05, + "observation_loss": 3.7391539535747143e-06, + "chamfer": 3.1529571060673334e-06, + "track": 5.861968475073809e-07, + "acceleration": 6.50959327685996e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.311516699497588e-06, + "observation_loss": 4.264630206307629e-06, + "chamfer": 3.5763914638664573e-06, + "track": 6.882389129714284e-07, + "acceleration": 2.0468867205636343e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.694571882486343e-06, + "observation_loss": 4.472543423617026e-06, + "chamfer": 3.742195303857443e-06, + "track": 7.303479492293263e-07, + "acceleration": 1.2220283451824798e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.960203568771249e-06, + "observation_loss": 4.239648660586681e-06, + "chamfer": 3.5528089483705116e-06, + "track": 6.868398259030073e-07, + "acceleration": 7.205549081845675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6232048589445185e-06, + "observation_loss": 4.111351245228434e-06, + "chamfer": 3.4508063890825724e-06, + "track": 6.605450266761181e-07, + "acceleration": 5.118537274029222e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.506827735895058e-06, + "observation_loss": 4.04992397307069e-06, + "chamfer": 3.4038273497571936e-06, + "track": 6.460967938437534e-07, + "acceleration": 4.5690370598094887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.4694247662846465e-06, + "observation_loss": 4.157900548307225e-06, + "chamfer": 3.492580390229705e-06, + "track": 6.653199875472637e-07, + "acceleration": 3.1152413271229307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.661878847400658e-06, + "observation_loss": 4.53502252639737e-06, + "chamfer": 3.7991410408722004e-06, + "track": 7.358817128988449e-07, + "acceleration": 1.2685622152730502e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.078755293652648e-06, + "observation_loss": 4.9930199566006195e-06, + "chamfer": 4.166327926213853e-06, + "track": 8.266919166999287e-07, + "acceleration": 8.573552179313992e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.381582923291717e-06, + "observation_loss": 5.296147719491273e-06, + "chamfer": 4.415322109707631e-06, + "track": 8.808257234704797e-07, + "acceleration": 8.543535301441807e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.603377758234274e-06, + "observation_loss": 5.501257419382455e-06, + "chamfer": 4.589686341205379e-06, + "track": 9.115710781770758e-07, + "acceleration": 1.0212029621925467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.552116363105597e-06, + "observation_loss": 5.493729986483231e-06, + "chamfer": 4.587021521729184e-06, + "track": 9.067086921277223e-07, + "acceleration": 5.838654715262237e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.506110028363764e-06, + "observation_loss": 5.386877091950737e-06, + "chamfer": 4.499858732742723e-06, + "track": 8.870184728948516e-07, + "acceleration": 1.1923282272618962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.242558472673409e-06, + "observation_loss": 5.037808932684129e-06, + "chamfer": 4.214030468574492e-06, + "track": 8.237783504227991e-07, + "acceleration": 2.047496394652626e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.956575139658526e-06, + "observation_loss": 4.654034910345217e-06, + "chamfer": 3.8968883018242195e-06, + "track": 7.5714649483416e-07, + "acceleration": 3.0254011562647065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.65881248601363e-06, + "observation_loss": 4.474023626244161e-06, + "chamfer": 3.7463687476702034e-06, + "track": 7.276549354173767e-07, + "acceleration": 1.8478890240203327e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.663748313760152e-06, + "observation_loss": 4.448878826224245e-06, + "chamfer": 3.721590474015102e-06, + "track": 7.272884658959811e-07, + "acceleration": 2.1486927437308623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.68936104880413e-06, + "observation_loss": 4.411729150888277e-06, + "chamfer": 3.6892677144351183e-06, + "track": 7.224614932965778e-07, + "acceleration": 2.776320116026909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.610070845956216e-06, + "observation_loss": 4.326500857132487e-06, + "chamfer": 3.619366452767281e-06, + "track": 7.071342338349496e-07, + "acceleration": 2.8356998882372864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.545608135231305e-06, + "observation_loss": 4.28682778874645e-06, + "chamfer": 3.5920027130487142e-06, + "track": 6.948248483240604e-07, + "acceleration": 2.5878017595459823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.537433142104419e-06, + "observation_loss": 4.277289008314256e-06, + "chamfer": 3.5809321161650587e-06, + "track": 6.963567784623592e-07, + "acceleration": 2.6014433274212934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.558041382551892e-06, + "observation_loss": 4.273009835742414e-06, + "chamfer": 3.5618684250948718e-06, + "track": 7.111412969607045e-07, + "acceleration": 2.8503148996605887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.698044904216658e-06, + "observation_loss": 4.413396709423978e-06, + "chamfer": 3.658701643871609e-06, + "track": 7.546952360826253e-07, + "acceleration": 2.84648166370971e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.1801962399622425e-06, + "observation_loss": 4.793195785168791e-06, + "chamfer": 3.944963282265235e-06, + "track": 8.482324460601376e-07, + "acceleration": 3.870005684802891e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.326401605998399e-06, + "observation_loss": 5.063213393441401e-06, + "chamfer": 4.152826932113385e-06, + "track": 9.103866318582732e-07, + "acceleration": 2.6318815571357845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.518063062481815e-06, + "observation_loss": 5.086642886453774e-06, + "chamfer": 4.1766679714783095e-06, + "track": 9.099746876017889e-07, + "acceleration": 4.314201191846223e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.293411504680989e-06, + "observation_loss": 5.058934675616911e-06, + "chamfer": 4.163984158367384e-06, + "track": 8.94950687779783e-07, + "acceleration": 2.344769853834805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.446443537948653e-06, + "observation_loss": 5.135840183356777e-06, + "chamfer": 4.232475475873798e-06, + "track": 9.033647074829787e-07, + "acceleration": 3.106031840616197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.652856543747475e-06, + "observation_loss": 5.283391146804206e-06, + "chamfer": 4.3496215766936075e-06, + "track": 9.33769399580342e-07, + "acceleration": 3.694652832564316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.812710696773138e-06, + "observation_loss": 5.481500011228491e-06, + "chamfer": 4.50608467872371e-06, + "track": 9.754151051311055e-07, + "acceleration": 3.3121082765319443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.163535090308869e-06, + "observation_loss": 5.716339728678577e-06, + "chamfer": 4.678247933043167e-06, + "track": 1.0380919093222474e-06, + "acceleration": 4.471952479434549e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.159293661767151e-06, + "observation_loss": 5.806124136142898e-06, + "chamfer": 4.744214038510108e-06, + "track": 1.0619099839459523e-06, + "acceleration": 3.531695540459623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.101777216827031e-06, + "observation_loss": 5.9259787121845875e-06, + "chamfer": 4.820205958822044e-06, + "track": 1.1057728670493816e-06, + "acceleration": 1.75798390955606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.330095857265405e-06, + "observation_loss": 6.187170583871193e-06, + "chamfer": 5.008806965633994e-06, + "track": 1.1783636182371993e-06, + "acceleration": 1.4292530181592156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.553269940923201e-06, + "observation_loss": 6.286997177085141e-06, + "chamfer": 5.094939751870697e-06, + "track": 1.1920573115276056e-06, + "acceleration": 2.662725648860942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.169836524350103e-06, + "observation_loss": 5.993481408950174e-06, + "chamfer": 4.883650035480969e-06, + "track": 1.1098312597823679e-06, + "acceleration": 1.7635511539992876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.783878805232234e-06, + "observation_loss": 5.644996235787403e-06, + "chamfer": 4.613844794221222e-06, + "track": 1.0311516689398559e-06, + "acceleration": 1.3888235628201073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.9143994803889655e-06, + "observation_loss": 5.6488747759431135e-06, + "chamfer": 4.614198587660212e-06, + "track": 1.0346763019697391e-06, + "acceleration": 2.655246191807237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.169004791445332e-06, + "observation_loss": 5.9314661484677345e-06, + "chamfer": 4.819518835574854e-06, + "track": 1.1119471992060426e-06, + "acceleration": 2.3753878508614434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.236783974600257e-06, + "observation_loss": 6.117462362453807e-06, + "chamfer": 4.945023647451308e-06, + "track": 1.172438487628824e-06, + "acceleration": 1.1932164056815964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.3380221035913564e-06, + "observation_loss": 6.302633664745372e-06, + "chamfer": 5.079995844425866e-06, + "track": 1.2226379340063431e-06, + "acceleration": 3.5388534769253965e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.468417268479243e-06, + "observation_loss": 6.383513209584635e-06, + "chamfer": 5.137324023962719e-06, + "track": 1.2461892993087531e-06, + "acceleration": 8.490422942486475e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.581956313311821e-06, + "observation_loss": 6.430212579289218e-06, + "chamfer": 5.171923476154916e-06, + "track": 1.2582891031343024e-06, + "acceleration": 1.5174376244431187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.769080755475443e-06, + "observation_loss": 6.5660888139973395e-06, + "chamfer": 5.278327080304734e-06, + "track": 1.287761733692605e-06, + "acceleration": 2.0299182779126568e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.195014404715039e-06, + "observation_loss": 7.032300800347002e-06, + "chamfer": 5.625294306810247e-06, + "track": 1.4070063798499177e-06, + "acceleration": 1.6271337699436117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.803147127560806e-06, + "observation_loss": 7.664563781872857e-06, + "chamfer": 6.069045866752276e-06, + "track": 1.5955179151205812e-06, + "acceleration": 1.3858335989880288e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.35504488350125e-06, + "observation_loss": 8.068558599916287e-06, + "chamfer": 6.3568986661266536e-06, + "track": 1.7116601611633087e-06, + "acceleration": 2.8648591410274094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.179460564861074e-06, + "observation_loss": 7.921405995148234e-06, + "chamfer": 6.260548616410233e-06, + "track": 1.6608574924248387e-06, + "acceleration": 2.580542570740363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.903322511992883e-06, + "observation_loss": 7.653333341295365e-06, + "chamfer": 6.079445029172348e-06, + "track": 1.5738884258098551e-06, + "acceleration": 2.4998902858897054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.500421816075686e-06, + "observation_loss": 7.418970199069008e-06, + "chamfer": 5.9072981457575224e-06, + "track": 1.5116720533114858e-06, + "acceleration": 8.145177332608e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.272516540979268e-06, + "observation_loss": 7.219102826638846e-06, + "chamfer": 5.757490271207644e-06, + "track": 1.4616124417443643e-06, + "acceleration": 5.341377828926852e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.255120181071106e-06, + "observation_loss": 7.192007160483627e-06, + "chamfer": 5.73310080653755e-06, + "track": 1.4589063539460767e-06, + "acceleration": 6.311297795491555e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.31474165149848e-06, + "observation_loss": 7.231108156702248e-06, + "chamfer": 5.753849109169096e-06, + "track": 1.4772590475331526e-06, + "acceleration": 8.363356585050497e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.334285328397527e-06, + "observation_loss": 7.290600933629321e-06, + "chamfer": 5.795160632260377e-06, + "track": 1.4954403013689443e-06, + "acceleration": 4.3684355688355936e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.547535005869577e-06, + "observation_loss": 7.347418431891128e-06, + "chamfer": 5.822719231218798e-06, + "track": 1.524699314359168e-06, + "acceleration": 2.0011664503272186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.871747584431432e-06, + "observation_loss": 7.40753148420481e-06, + "chamfer": 5.8698960856418125e-06, + "track": 1.5376352848761599e-06, + "acceleration": 4.642161286483315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.474296009808313e-06, + "observation_loss": 7.526106401201105e-06, + "chamfer": 5.944064014329342e-06, + "track": 1.5820422731849249e-06, + "acceleration": 9.481898928243027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.03236650628969e-06, + "observation_loss": 7.66708399169147e-06, + "chamfer": 6.0558350014616735e-06, + "track": 1.6112485354824457e-06, + "acceleration": 1.3652828556587338e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.61329408508027e-06, + "observation_loss": 7.81233211455401e-06, + "chamfer": 6.16798297414789e-06, + "track": 1.6443487993456074e-06, + "acceleration": 8.009623684301914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.478180461679585e-06, + "observation_loss": 8.144897037709597e-06, + "chamfer": 6.410736659745453e-06, + "track": 1.7341604916509823e-06, + "acceleration": 3.3328302606605575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.868561053532176e-06, + "observation_loss": 8.612571946287062e-06, + "chamfer": 6.731705070706084e-06, + "track": 1.8808669892678154e-06, + "acceleration": 2.559889082931477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.275992852053605e-06, + "observation_loss": 9.16464068723144e-06, + "chamfer": 7.106808880052995e-06, + "track": 2.057831807178445e-06, + "acceleration": 1.1135203692447249e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.543154192215297e-06, + "observation_loss": 9.45878946367884e-06, + "chamfer": 7.304177870537387e-06, + "track": 2.154611365767778e-06, + "acceleration": 8.436460063876439e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.92977038549725e-06, + "observation_loss": 9.66264633461833e-06, + "chamfer": 7.441752131853718e-06, + "track": 2.2208946575119626e-06, + "acceleration": 2.6712430667430453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.002224689727882e-05, + "observation_loss": 9.858873454504646e-06, + "chamfer": 7.55034807298216e-06, + "track": 2.308525836269837e-06, + "acceleration": 1.6337330066562572e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0068639312521555e-05, + "observation_loss": 9.95676418824587e-06, + "chamfer": 7.6034939411329105e-06, + "track": 2.3532702471129596e-06, + "acceleration": 1.1187513138111171e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0179081982641947e-05, + "observation_loss": 9.861003491096199e-06, + "chamfer": 7.540775641246e-06, + "track": 2.3202273951028474e-06, + "acceleration": 3.1807883260626113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0412348274257965e-05, + "observation_loss": 9.618769581720699e-06, + "chamfer": 7.3956543928943574e-06, + "track": 2.2231154162000166e-06, + "acceleration": 7.935788062241045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0009611287387088e-05, + "observation_loss": 9.535028766549658e-06, + "chamfer": 7.331326287385309e-06, + "track": 2.2037027065380244e-06, + "acceleration": 4.745824071505922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.680675248091575e-06, + "observation_loss": 9.47802618611604e-06, + "chamfer": 7.291544989129761e-06, + "track": 2.1864807422389276e-06, + "acceleration": 2.0264863564989355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.737895197758917e-06, + "observation_loss": 9.3303160610958e-06, + "chamfer": 7.186462426034268e-06, + "track": 2.1438538624352077e-06, + "acceleration": 4.075792219282448e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0587386896077078e-05, + "observation_loss": 9.247039997717366e-06, + "chamfer": 7.109151283657411e-06, + "track": 2.1378891688073054e-06, + "acceleration": 1.340346557299199e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2381452506815549e-05, + "observation_loss": 9.503401997790206e-06, + "chamfer": 7.282707429112634e-06, + "track": 2.2206945686775725e-06, + "acceleration": 2.878050736399018e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2198005606478546e-05, + "observation_loss": 9.759551176102832e-06, + "chamfer": 7.4500985647318885e-06, + "track": 2.3094526113709435e-06, + "acceleration": 2.4384542030020384e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.053095911629498e-05, + "observation_loss": 9.637007678975351e-06, + "chamfer": 7.362452834058786e-06, + "track": 2.2745552996639162e-06, + "acceleration": 8.939513236327912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0207868399447761e-05, + "observation_loss": 9.765277354745194e-06, + "chamfer": 7.444224593200488e-06, + "track": 2.3210529889183817e-06, + "acceleration": 4.4259149944991805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0109130016644485e-05, + "observation_loss": 9.915154805639759e-06, + "chamfer": 7.530948096245993e-06, + "track": 2.3842064820200903e-06, + "acceleration": 1.9397478467908513e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0225437108601909e-05, + "observation_loss": 1.0112673408002593e-05, + "chamfer": 7.632799679413438e-06, + "track": 2.479873273841804e-06, + "acceleration": 1.127637858644448e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0467088031873573e-05, + "observation_loss": 1.0318041859136429e-05, + "chamfer": 7.737556188658345e-06, + "track": 2.580485670478083e-06, + "acceleration": 1.4904652800851181e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0664360161172226e-05, + "observation_loss": 1.0600975656416267e-05, + "chamfer": 7.919755262264516e-06, + "track": 2.6812206215254264e-06, + "acceleration": 6.338437685826648e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1032572729163803e-05, + "observation_loss": 1.0944921086775139e-05, + "chamfer": 8.148745109792799e-06, + "track": 2.7961755222349893e-06, + "acceleration": 8.76516565995189e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.130064447352197e-05, + "observation_loss": 1.1199945220141672e-05, + "chamfer": 8.318072104884777e-06, + "track": 2.8818735700042453e-06, + "acceleration": 1.0069951628111085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1389898645575158e-05, + "observation_loss": 1.1295310287096072e-05, + "chamfer": 8.364828318008222e-06, + "track": 2.9304821964615257e-06, + "acceleration": 9.458836558451367e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1505114343890455e-05, + "observation_loss": 1.1376581824151799e-05, + "chamfer": 8.417548997385893e-06, + "track": 2.959032372018555e-06, + "acceleration": 1.2853244868438196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1601254300330766e-05, + "observation_loss": 1.145376700151246e-05, + "chamfer": 8.453389455098659e-06, + "track": 3.000377319040126e-06, + "acceleration": 1.4748768251138245e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1537095815583598e-05, + "observation_loss": 1.1467303920653649e-05, + "chamfer": 8.450304449070245e-06, + "track": 3.0169999263307545e-06, + "acceleration": 6.979183098110298e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1687850019370671e-05, + "observation_loss": 1.1475754945422523e-05, + "chamfer": 8.458025149593595e-06, + "track": 3.017729568455252e-06, + "acceleration": 2.1209483236361848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1654869922494981e-05, + "observation_loss": 1.1546519999683369e-05, + "chamfer": 8.492530469084159e-06, + "track": 3.0539895305992104e-06, + "acceleration": 1.0834958885652668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1713023013726342e-05, + "observation_loss": 1.1624610124272294e-05, + "chamfer": 8.525643352186307e-06, + "track": 3.098966317338636e-06, + "acceleration": 8.841317367114243e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1781759894802235e-05, + "observation_loss": 1.1686818652378861e-05, + "chamfer": 8.560726200812496e-06, + "track": 3.1260924515663646e-06, + "acceleration": 9.494103636598084e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1863679901580326e-05, + "observation_loss": 1.1777657164202537e-05, + "chamfer": 8.609622454969212e-06, + "track": 3.168034709233325e-06, + "acceleration": 8.602235368471156e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1839524631795939e-05, + "observation_loss": 1.1733877727237996e-05, + "chamfer": 8.586168405599892e-06, + "track": 3.1477093216381036e-06, + "acceleration": 1.056471461424735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1658802577585448e-05, + "observation_loss": 1.1568077752599493e-05, + "chamfer": 8.483567398798186e-06, + "track": 3.0845103538013063e-06, + "acceleration": 9.072484630223698e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.2854577717247e-06, + "chamfer_mean": 5.70281764093276e-06, + "track_mean": 1.5698505884860954e-06, + "acceleration_mean": 1.0127895033000083e-06, + "observation_score": 7.272668230010974e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4171464600003674 + }, + "score_arrays_file": "pass_scores/pass_end_0289.npz", + "score_arrays_sha256": "a712edad41d1fb7a2d2ffe3cb6d01a4a5d51588051525314c48f68ba4ee67492" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0290.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0290.json new file mode 100644 index 0000000000000000000000000000000000000000..4282450a596ccbf83465f9f419f9fe7a0e282683 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0290.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27840, + "completed_passes": 290, + "snapshot": "pass_end_0290", + "candidate": true, + "snapshot_arrays_sha256": "9c293343ca85425467e78a86528701c60820f58ff044024601b46446ccf08fe8", + "score": 7.268873244944037e-06, + "score_result": { + "score": 7.268873244944037e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8748142995027592e-06, + 3.160576852678787e-06, + 3.305025074951118e-06, + 3.737687620741781e-06, + 4.2626779759302735e-06, + 4.470792646316113e-06, + 4.237289886077633e-06, + 4.108437678951304e-06, + 4.0472878026776016e-06, + 4.155288934271084e-06, + 4.532542334345635e-06, + 4.9907166612683795e-06, + 5.294565653457539e-06, + 5.50014192413073e-06, + 5.4928473218751606e-06, + 5.385639269661624e-06, + 5.0360849854769185e-06, + 4.651978542824509e-06, + 4.471473857847741e-06, + 4.446617822395638e-06, + 4.409101165947504e-06, + 4.32287561125122e-06, + 4.282184363546548e-06, + 4.272574187780265e-06, + 4.269171768100932e-06, + 4.411569989315467e-06, + 4.793060725205578e-06, + 5.063562639406882e-06, + 5.085842076368863e-06, + 5.056576810602564e-06, + 5.134926141181495e-06, + 5.283596237859456e-06, + 5.484094344865298e-06, + 5.719514774682466e-06, + 5.809029971715063e-06, + 5.928892733209068e-06, + 6.1898008425487205e-06, + 6.288507393037435e-06, + 5.992605110805016e-06, + 5.64203992325929e-06, + 5.645516466756817e-06, + 5.927980964770541e-06, + 6.114157258707564e-06, + 6.2996214182931e-06, + 6.380118065862916e-06, + 6.427005700970767e-06, + 6.563317583641037e-06, + 7.0298683567671105e-06, + 7.66232369642239e-06, + 8.066033842624165e-06, + 7.918854862509761e-06, + 7.651186933799181e-06, + 7.417444066959433e-06, + 7.2179300332209095e-06, + 7.1908984864421654e-06, + 7.229783477669116e-06, + 7.289254426723346e-06, + 7.346229722315911e-06, + 7.4064646469196305e-06, + 7.525525234086672e-06, + 7.666531928407494e-06, + 7.81203470978653e-06, + 8.145187166519463e-06, + 8.613569661974907e-06, + 9.166192285192665e-06, + 9.461062290938571e-06, + 9.665227480581962e-06, + 9.862001206784043e-06, + 9.96028848021524e-06, + 9.864652383839712e-06, + 9.62166905082995e-06, + 9.53749713517027e-06, + 9.480029802944046e-06, + 9.330859029432759e-06, + 9.247906746168155e-06, + 9.497012797510251e-06, + 9.75462535279803e-06, + 9.632853107177652e-06, + 9.76109913608525e-06, + 9.907899766403716e-06, + 1.0102156920765992e-05, + 1.0304743227607105e-05, + 1.0585521522443742e-05, + 1.0928404662990943e-05, + 1.1182683010702021e-05, + 1.1277643352514133e-05, + 1.135823276854353e-05, + 1.1436398381192703e-05, + 1.1449748853920028e-05, + 1.14577887870837e-05, + 1.152840195572935e-05, + 1.1606090993154794e-05, + 1.1668158549582586e-05, + 1.1759601875382941e-05, + 1.1716378139681183e-05, + 1.1550149793038145e-05 + ] + ], + "episode_mean_losses": [ + 7.268873244944037e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8748142995027592e-06, + "observation_loss": 2.8748142995027592e-06, + "chamfer": 2.4387829853367293e-06, + "track": 4.360312857443205e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.151303437538445e-05, + "observation_loss": 3.160576852678787e-06, + "chamfer": 2.6731847810879117e-06, + "track": 4.873919579040376e-07, + "acceleration": 3.835245661321096e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3472670363844372e-05, + "observation_loss": 3.305025074951118e-06, + "chamfer": 2.797817842292716e-06, + "track": 5.072071189715643e-07, + "acceleration": 2.0167644834145904e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.024357152346056e-05, + "observation_loss": 3.737687620741781e-06, + "chamfer": 3.151740656903712e-06, + "track": 5.85946850151231e-07, + "acceleration": 6.50588435746613e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.293267688306514e-06, + "observation_loss": 4.2626779759302735e-06, + "chamfer": 3.5747864330915036e-06, + "track": 6.878914859953511e-07, + "acceleration": 2.0305897123762406e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.68767063668929e-06, + "observation_loss": 4.470792646316113e-06, + "chamfer": 3.7407501167763257e-06, + "track": 7.300424726963683e-07, + "acceleration": 1.2168781040600152e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.954343239660375e-06, + "observation_loss": 4.237289886077633e-06, + "chamfer": 3.550853080014349e-06, + "track": 6.864369765935407e-07, + "acceleration": 7.170534672695794e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.621436346496921e-06, + "observation_loss": 4.108437678951304e-06, + "chamfer": 3.4483875879232073e-06, + "track": 6.600502615583537e-07, + "acceleration": 5.129987243890355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.504649041336961e-06, + "observation_loss": 4.0472878026776016e-06, + "chamfer": 3.401646836209693e-06, + "track": 6.456410801547463e-07, + "acceleration": 4.5736101128568407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.466343852982391e-06, + "observation_loss": 4.155288934271084e-06, + "chamfer": 3.490401923045283e-06, + "track": 6.648868406955444e-07, + "acceleration": 3.110547197593405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.659666046791244e-06, + "observation_loss": 4.532542334345635e-06, + "chamfer": 3.7970708035572898e-06, + "track": 7.354715876317641e-07, + "acceleration": 1.2712372665646399e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.076564320916077e-06, + "observation_loss": 4.9907166612683795e-06, + "chamfer": 4.1644193515821826e-06, + "track": 8.262973665296158e-07, + "acceleration": 8.584752464457779e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.380061338655651e-06, + "observation_loss": 5.294565653457539e-06, + "chamfer": 4.414006070874166e-06, + "track": 8.805595257399546e-07, + "acceleration": 8.549555019499167e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.602454166364623e-06, + "observation_loss": 5.50014192413073e-06, + "chamfer": 4.588765023072483e-06, + "track": 9.113770715885039e-07, + "acceleration": 1.0231236302615798e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.551477897824952e-06, + "observation_loss": 5.4928473218751606e-06, + "chamfer": 4.586313934851205e-06, + "track": 9.06533216493699e-07, + "acceleration": 5.863071805833897e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.504808996192878e-06, + "observation_loss": 5.385639269661624e-06, + "chamfer": 4.498862836044282e-06, + "track": 8.867762062436668e-07, + "acceleration": 1.1916952047386076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.240400696493452e-06, + "observation_loss": 5.0360849854769185e-06, + "chamfer": 4.212625299260253e-06, + "track": 8.234599135903409e-07, + "acceleration": 2.0431555469713203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.954319138050778e-06, + "observation_loss": 4.651978542824509e-06, + "chamfer": 3.895220288541168e-06, + "track": 7.567582542833406e-07, + "acceleration": 3.0234079417823523e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.655320026358822e-06, + "observation_loss": 4.471473857847741e-06, + "chamfer": 3.7442630400619237e-06, + "track": 7.272108177858172e-07, + "acceleration": 1.8384631061962864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.6608224693045486e-06, + "observation_loss": 4.446617822395638e-06, + "chamfer": 3.7197185065451777e-06, + "track": 7.268994863807166e-07, + "acceleration": 2.1420463269805623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.68673442810541e-06, + "observation_loss": 4.409101165947504e-06, + "chamfer": 3.687088337755995e-06, + "track": 7.220128850349283e-07, + "acceleration": 2.776331200493587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.606040420185309e-06, + "observation_loss": 4.32287561125122e-06, + "chamfer": 3.6163837648928165e-06, + "track": 7.064919032018224e-07, + "acceleration": 2.8316503630776424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.543396244116593e-06, + "observation_loss": 4.282184363546548e-06, + "chamfer": 3.5882017073163297e-06, + "track": 6.939828267604753e-07, + "acceleration": 2.6121168161807873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.5352680899668485e-06, + "observation_loss": 4.272574187780265e-06, + "chamfer": 3.577031066015479e-06, + "track": 6.955431217647856e-07, + "acceleration": 2.62693788499746e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.555313807941275e-06, + "observation_loss": 4.269171768100932e-06, + "chamfer": 3.5586185731517617e-06, + "track": 7.10553422322846e-07, + "acceleration": 2.861418693100859e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.695298684964655e-06, + "observation_loss": 4.411569989315467e-06, + "chamfer": 3.6571402688423404e-06, + "track": 7.544297773165454e-07, + "acceleration": 2.8372875249260687e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.17834314450738e-06, + "observation_loss": 4.793060725205578e-06, + "chamfer": 3.944767286157003e-06, + "track": 8.482934958919941e-07, + "acceleration": 3.8528247614522115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.325982783688232e-06, + "observation_loss": 5.063562639406882e-06, + "chamfer": 4.152971541770967e-06, + "track": 9.105910407924966e-07, + "acceleration": 2.6242011585964065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.513106771104503e-06, + "observation_loss": 5.085842076368863e-06, + "chamfer": 4.175900357950013e-06, + "track": 9.099416615754308e-07, + "acceleration": 4.2726478000076895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.289531600283226e-06, + "observation_loss": 5.056576810602564e-06, + "chamfer": 4.1620942283771e-06, + "track": 8.944824116952077e-07, + "acceleration": 2.3295459072869562e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.446062914415961e-06, + "observation_loss": 5.134926141181495e-06, + "chamfer": 4.231802904541837e-06, + "track": 9.031234640133334e-07, + "acceleration": 3.111368869213038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.667149252985837e-06, + "observation_loss": 5.283596237859456e-06, + "chamfer": 4.349906703282613e-06, + "track": 9.336895345768426e-07, + "acceleration": 3.835529582829622e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.8305117818235885e-06, + "observation_loss": 5.484094344865298e-06, + "chamfer": 4.50830611953279e-06, + "track": 9.757883390193456e-07, + "acceleration": 3.464174938017095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.201262294780463e-06, + "observation_loss": 5.719514774682466e-06, + "chamfer": 4.680926394939888e-06, + "track": 1.03858826605574e-06, + "acceleration": 4.817474064111593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.194656180014135e-06, + "observation_loss": 5.809029971715063e-06, + "chamfer": 4.746731519844616e-06, + "track": 1.0622983381836093e-06, + "acceleration": 3.8562640725103847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.119119461800437e-06, + "observation_loss": 5.928892733209068e-06, + "chamfer": 4.822548817173811e-06, + "track": 1.106344029722095e-06, + "acceleration": 1.9022664332624117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.342429514916148e-06, + "observation_loss": 6.1898008425487205e-06, + "chamfer": 5.010924724047072e-06, + "track": 1.1788763458753238e-06, + "acceleration": 1.5262850183717092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.546925305883633e-06, + "observation_loss": 6.288507393037435e-06, + "chamfer": 5.0960288717760704e-06, + "track": 1.1924785212613642e-06, + "acceleration": 2.5841805495474546e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.167599167383742e-06, + "observation_loss": 5.992605110805016e-06, + "chamfer": 4.88281966681825e-06, + "track": 1.1097856713604415e-06, + "acceleration": 1.749939002593237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.7767006182984915e-06, + "observation_loss": 5.64203992325929e-06, + "chamfer": 4.611398708220804e-06, + "track": 1.0306412150384858e-06, + "acceleration": 1.3466087978031283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.90813806411461e-06, + "observation_loss": 5.645516466756817e-06, + "chamfer": 4.611446456692647e-06, + "track": 1.0340702374378452e-06, + "acceleration": 2.6262139840582677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.164500518934801e-06, + "observation_loss": 5.927980964770541e-06, + "chamfer": 4.816731689061271e-06, + "track": 1.111249503082945e-06, + "acceleration": 2.3651966785109835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.233712156245019e-06, + "observation_loss": 6.114157258707564e-06, + "chamfer": 4.942378382111201e-06, + "track": 1.1717791039700387e-06, + "acceleration": 1.1955469858548895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.334988029266242e-06, + "observation_loss": 6.2996214182931e-06, + "chamfer": 5.077574769529747e-06, + "track": 1.2220467624501907e-06, + "acceleration": 3.536643333745815e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.464174020948121e-06, + "observation_loss": 6.380118065862916e-06, + "chamfer": 5.134594630362699e-06, + "track": 1.245523662873893e-06, + "acceleration": 8.405598350691434e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.578420652658679e-06, + "observation_loss": 6.427005700970767e-06, + "chamfer": 5.169366886548232e-06, + "track": 1.257638700735697e-06, + "acceleration": 1.5141489484449266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.765638318029232e-06, + "observation_loss": 6.563317583641037e-06, + "chamfer": 5.2761679398827255e-06, + "track": 1.2871494163846364e-06, + "acceleration": 2.023206491230667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.191736585809849e-06, + "observation_loss": 7.0298683567671105e-06, + "chamfer": 5.623460310744122e-06, + "track": 1.4064079323361511e-06, + "acceleration": 1.6186845641641412e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.801621904945932e-06, + "observation_loss": 7.66232369642239e-06, + "chamfer": 6.067381491448032e-06, + "track": 1.5949424323480343e-06, + "acceleration": 1.3929808062584925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.352526492672041e-06, + "observation_loss": 8.066033842624165e-06, + "chamfer": 6.3551447055942845e-06, + "track": 1.710889364403556e-06, + "acceleration": 2.864925363610382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.177845302270725e-06, + "observation_loss": 7.918854862509761e-06, + "chamfer": 6.258770554268267e-06, + "track": 1.6600839671809808e-06, + "acceleration": 2.5899004185703234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.901593562564813e-06, + "observation_loss": 7.651186933799181e-06, + "chamfer": 6.077874786569737e-06, + "track": 1.5733124882899574e-06, + "acceleration": 2.504065435005032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.499156254198169e-06, + "observation_loss": 7.417444066959433e-06, + "chamfer": 5.906112619413761e-06, + "track": 1.5113315612325096e-06, + "acceleration": 8.171205223561628e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.271711183420848e-06, + "observation_loss": 7.2179300332209095e-06, + "chamfer": 5.7565816860005725e-06, + "track": 1.4613482335334993e-06, + "acceleration": 5.3781093356519705e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.254257980093826e-06, + "observation_loss": 7.1908984864421654e-06, + "chamfer": 5.732231784350006e-06, + "track": 1.4586668157789973e-06, + "acceleration": 6.33594368082413e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.313292371691205e-06, + "observation_loss": 7.229783477669116e-06, + "chamfer": 5.752786819357425e-06, + "track": 1.4769968856853666e-06, + "acceleration": 8.350877322982342e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.333068879233906e-06, + "observation_loss": 7.289254426723346e-06, + "chamfer": 5.794084700028179e-06, + "track": 1.495169726695167e-06, + "acceleration": 4.3814289085730707e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.547465884272242e-06, + "observation_loss": 7.346229722315911e-06, + "chamfer": 5.8217560763296206e-06, + "track": 1.5244734186126152e-06, + "acceleration": 2.0123614774547605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.872833521105349e-06, + "observation_loss": 7.4064646469196305e-06, + "chamfer": 5.869008873560233e-06, + "track": 1.537455545985722e-06, + "acceleration": 4.66368504703496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.476452421746217e-06, + "observation_loss": 7.525525234086672e-06, + "chamfer": 5.943594715063227e-06, + "track": 1.5819305190234445e-06, + "acceleration": 9.509274150332203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.034771210281178e-06, + "observation_loss": 7.666531928407494e-06, + "chamfer": 6.055369340174366e-06, + "track": 1.6111624745462905e-06, + "acceleration": 1.3682389408131712e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.614077160018496e-06, + "observation_loss": 7.81203470978653e-06, + "chamfer": 6.167676019686041e-06, + "track": 1.6443585764136515e-06, + "acceleration": 8.020425639188034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.478510608256329e-06, + "observation_loss": 8.145187166519463e-06, + "chamfer": 6.410838068404701e-06, + "track": 1.7343489844279247e-06, + "acceleration": 3.3332332805002807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.869333214533981e-06, + "observation_loss": 8.613569661974907e-06, + "chamfer": 6.73230806569336e-06, + "track": 1.8812619373420603e-06, + "acceleration": 2.557638367761683e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.277395292883739e-06, + "observation_loss": 9.166192285192665e-06, + "chamfer": 7.107819328666665e-06, + "track": 2.0583731838996755e-06, + "acceleration": 1.1120302900735624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.545578905090224e-06, + "observation_loss": 9.461062290938571e-06, + "chamfer": 7.305763574549928e-06, + "track": 2.1552989437623182e-06, + "acceleration": 8.451662836250762e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.933005458151456e-06, + "observation_loss": 9.665227480581962e-06, + "chamfer": 7.443614777002949e-06, + "track": 2.2216122488316614e-06, + "acceleration": 2.6777840389513585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.002592034637928e-05, + "observation_loss": 9.862001206784043e-06, + "chamfer": 7.55259998186375e-06, + "track": 2.309400997546618e-06, + "acceleration": 1.6391877011301403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0072508302982897e-05, + "observation_loss": 9.96028848021524e-06, + "chamfer": 7.606167855556123e-06, + "track": 2.3541206246591173e-06, + "acceleration": 1.1221972329167329e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0183597623836249e-05, + "observation_loss": 9.864652383839712e-06, + "chamfer": 7.543545052612899e-06, + "track": 2.3211071038531372e-06, + "acceleration": 3.1894521157482814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0415231372462586e-05, + "observation_loss": 9.62166905082995e-06, + "chamfer": 7.397842637146823e-06, + "track": 2.223826641056803e-06, + "acceleration": 7.935626058497292e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0011303857027087e-05, + "observation_loss": 9.53749713517027e-06, + "chamfer": 7.333210305660032e-06, + "track": 2.2042866021365626e-06, + "acceleration": 4.738070913390402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.682465133664664e-06, + "observation_loss": 9.480029802944046e-06, + "chamfer": 7.293104772543302e-06, + "track": 2.1869248030270683e-06, + "acceleration": 2.024354586183108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.708539437269792e-06, + "observation_loss": 9.330859029432759e-06, + "chamfer": 7.186687071225606e-06, + "track": 2.1441721855808282e-06, + "acceleration": 3.7768000993310125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0455379197082948e-05, + "observation_loss": 9.247906746168155e-06, + "chamfer": 7.110510523489211e-06, + "track": 2.137395995305269e-06, + "acceleration": 1.2074726782884682e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2415655874065123e-05, + "observation_loss": 9.497012797510251e-06, + "chamfer": 7.277913482539589e-06, + "track": 2.219098860223312e-06, + "acceleration": 2.918643531302223e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.225945379701443e-05, + "observation_loss": 9.75462535279803e-06, + "chamfer": 7.446519248333061e-06, + "track": 2.3081056497176178e-06, + "acceleration": 2.504828216842725e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0530000508879311e-05, + "observation_loss": 9.632853107177652e-06, + "chamfer": 7.359599294431973e-06, + "track": 2.2732535853720037e-06, + "acceleration": 8.971478564490099e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0219517207588069e-05, + "observation_loss": 9.76109913608525e-06, + "chamfer": 7.441200978064444e-06, + "track": 2.3198981580208056e-06, + "acceleration": 4.584183841416234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0093325727211777e-05, + "observation_loss": 9.907899766403716e-06, + "chamfer": 7.526230092480546e-06, + "track": 2.3816699012968456e-06, + "acceleration": 1.8542620239259122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.019678165903315e-05, + "observation_loss": 1.0102156920765992e-05, + "chamfer": 7.626205388078233e-06, + "track": 2.4759513053140836e-06, + "acceleration": 9.46251290656619e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0439982361276634e-05, + "observation_loss": 1.0304743227607105e-05, + "chamfer": 7.729411663603969e-06, + "track": 2.5753313366294606e-06, + "acceleration": 1.3523872155474237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0649390787875745e-05, + "observation_loss": 1.0585521522443742e-05, + "chamfer": 7.910161002655514e-06, + "track": 2.675360065040877e-06, + "acceleration": 6.38691446397388e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1019745215889998e-05, + "observation_loss": 1.0928404662990943e-05, + "chamfer": 8.138797056744806e-06, + "track": 2.789608060993487e-06, + "acceleration": 9.134094369755985e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1281481420155615e-05, + "observation_loss": 1.1182683010702021e-05, + "chamfer": 8.3079776231898e-06, + "track": 2.8747051601385465e-06, + "acceleration": 9.879867235440543e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1369280400685966e-05, + "observation_loss": 1.1277643352514133e-05, + "chamfer": 8.354310011782218e-06, + "track": 2.923332885984564e-06, + "acceleration": 9.163726133465389e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1488405107229482e-05, + "observation_loss": 1.135823276854353e-05, + "chamfer": 8.40656957734609e-06, + "track": 2.95166319119744e-06, + "acceleration": 1.3017215394484083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1585552783799358e-05, + "observation_loss": 1.1436398381192703e-05, + "chamfer": 8.443087608611677e-06, + "track": 2.9933109999547014e-06, + "acceleration": 1.4915421786554361e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1518329301907215e-05, + "observation_loss": 1.1449748853920028e-05, + "chamfer": 8.439895282208454e-06, + "track": 3.009853116964223e-06, + "acceleration": 6.858008561039242e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1666214959404897e-05, + "observation_loss": 1.14577887870837e-05, + "chamfer": 8.447294021607377e-06, + "track": 3.0104947654763237e-06, + "acceleration": 2.0842615811034193e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.163452907348983e-05, + "observation_loss": 1.152840195572935e-05, + "chamfer": 8.481786608172115e-06, + "track": 3.046615574930911e-06, + "acceleration": 1.0612733802872754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1695188732119277e-05, + "observation_loss": 1.1606090993154794e-05, + "chamfer": 8.514824003214017e-06, + "track": 3.0912669899407774e-06, + "acceleration": 8.909817239555196e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.176331534225028e-05, + "observation_loss": 1.1668158549582586e-05, + "chamfer": 8.54984773468459e-06, + "track": 3.1183112696453463e-06, + "acceleration": 9.515650134517273e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1845523658848833e-05, + "observation_loss": 1.1759601875382941e-05, + "chamfer": 8.599367902206723e-06, + "track": 3.160234200549894e-06, + "acceleration": 8.592177636046472e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1822603482869454e-05, + "observation_loss": 1.1716378139681183e-05, + "chamfer": 8.576477739552502e-06, + "track": 3.1399004001286812e-06, + "acceleration": 1.0622498081147569e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1641089258773718e-05, + "observation_loss": 1.1550149793038145e-05, + "chamfer": 8.473220987070818e-06, + "track": 3.0769283512199763e-06, + "acceleration": 9.093938047044503e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.281512987669734e-06, + "chamfer_mean": 5.700375140804681e-06, + "track_mean": 1.568498098514226e-06, + "acceleration_mean": 1.0126397269605292e-06, + "observation_score": 7.268873244944037e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4291158850010106 + }, + "score_arrays_file": "pass_scores/pass_end_0290.npz", + "score_arrays_sha256": "9a51ffd175661f8750b38d782cd79fc58c8942bb0846507fa35e9f0dedf8cf2a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0291.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0291.json new file mode 100644 index 0000000000000000000000000000000000000000..8157c8d53b93d4e35a91ce592030718f4b2ed8bb --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0291.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 27936, + "completed_passes": 291, + "snapshot": "pass_end_0291", + "candidate": true, + "snapshot_arrays_sha256": "0a0dc0a14ca6b8be899439f9a929ac72cdf473496687f7eee9d72f18a7b751c0", + "score": 7.2649831916275316e-06, + "score_result": { + "score": 7.2649831916275316e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8746421776304487e-06, + 3.1603965453541605e-06, + 3.3032540613930905e-06, + 3.735920927283587e-06, + 4.260602963768179e-06, + 4.469014584174147e-06, + 4.2351016418251675e-06, + 4.10550092055928e-06, + 4.044364686706103e-06, + 4.152321253059199e-06, + 4.5300494093680754e-06, + 4.988343334844103e-06, + 5.292701189318905e-06, + 5.4986712711979635e-06, + 5.49169271835126e-06, + 5.384655196394306e-06, + 5.0343387556495145e-06, + 4.64972208646941e-06, + 4.4689277274301276e-06, + 4.444535989023279e-06, + 4.406692369229859e-06, + 4.319527761253994e-06, + 4.27766553912079e-06, + 4.268142220098525e-06, + 4.265864390617935e-06, + 4.4101980165578425e-06, + 4.7932667257555295e-06, + 5.063943262939574e-06, + 5.085139491711743e-06, + 5.054488610767294e-06, + 5.133716513228137e-06, + 5.283247446641326e-06, + 5.4857018767506815e-06, + 5.7214028856833465e-06, + 5.810406037198845e-06, + 5.9308772506483365e-06, + 6.1926330090500414e-06, + 6.290858436841518e-06, + 5.992037131363759e-06, + 5.639028131554369e-06, + 5.641956704494078e-06, + 5.924292963754851e-06, + 6.110267804615432e-06, + 6.295909315667814e-06, + 6.3762604440853465e-06, + 6.423628292395733e-06, + 6.560413567058276e-06, + 7.026987987046596e-06, + 7.659236871404573e-06, + 8.062577762757428e-06, + 7.915902642707806e-06, + 7.64920605433872e-06, + 7.4161412157991435e-06, + 7.217056463559857e-06, + 7.189892585302005e-06, + 7.228563845274039e-06, + 7.288082088052761e-06, + 7.344917321461253e-06, + 7.4052668423973955e-06, + 7.52488813304808e-06, + 7.666327292099595e-06, + 7.811862815287896e-06, + 8.145784704538528e-06, + 8.614855687483214e-06, + 9.168043106910773e-06, + 9.46352429309627e-06, + 9.668107850302476e-06, + 9.86514896794688e-06, + 9.963847332983278e-06, + 9.867749213299248e-06, + 9.624230187910143e-06, + 9.539316124573816e-06, + 9.481799679633696e-06, + 9.331293767900206e-06, + 9.249237336916849e-06, + 9.491397577221505e-06, + 9.749530363478698e-06, + 9.629048690840136e-06, + 9.757206498761661e-06, + 9.90012995316647e-06, + 1.0091202057083137e-05, + 1.0292098522768356e-05, + 1.0570614904281683e-05, + 1.091222839022521e-05, + 1.116516341426177e-05, + 1.125948165281443e-05, + 1.133940077124862e-05, + 1.1418759640946519e-05, + 1.143112876889063e-05, + 1.1439134141255636e-05, + 1.1509775504237041e-05, + 1.1587956578296144e-05, + 1.1650050510070287e-05, + 1.1741258276742883e-05, + 1.1698286471073516e-05, + 1.153236189566087e-05 + ] + ], + "episode_mean_losses": [ + 7.2649831916275316e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8746421776304487e-06, + "observation_loss": 2.8746421776304487e-06, + "chamfer": 2.438631554468884e-06, + "track": 4.360107368484023e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.151059329160489e-05, + "observation_loss": 3.1603965453541605e-06, + "chamfer": 2.673026983757154e-06, + "track": 4.873695047535875e-07, + "acceleration": 3.835019742837176e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.345853681617882e-05, + "observation_loss": 3.3032540613930905e-06, + "chamfer": 2.7963449156231945e-06, + "track": 5.06909145769896e-07, + "acceleration": 2.0155282982159406e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0238351933367085e-05, + "observation_loss": 3.735920927283587e-06, + "chamfer": 3.150277507302235e-06, + "track": 5.856434199813521e-07, + "acceleration": 6.502431006083498e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.27410554443486e-06, + "observation_loss": 4.260602963768179e-06, + "chamfer": 3.5730831768887583e-06, + "track": 6.875196731925826e-07, + "acceleration": 2.0135023532930063e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.681126367562683e-06, + "observation_loss": 4.469014584174147e-06, + "chamfer": 3.7392842386907432e-06, + "track": 7.297301749531471e-07, + "acceleration": 1.2121116697016987e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.948876267008018e-06, + "observation_loss": 4.2351016418251675e-06, + "chamfer": 3.5490297705109697e-06, + "track": 6.860717576273601e-07, + "acceleration": 7.137745114960126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.61955823993776e-06, + "observation_loss": 4.10550092055928e-06, + "chamfer": 3.4459446851542452e-06, + "track": 6.59556405935291e-07, + "acceleration": 5.140570920048049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.502102456171997e-06, + "observation_loss": 4.044364686706103e-06, + "chamfer": 3.3992232602031436e-06, + "track": 6.451413696595409e-07, + "acceleration": 4.577379684178595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.463117875275202e-06, + "observation_loss": 4.152321253059199e-06, + "chamfer": 3.487931280687917e-06, + "track": 6.643901429015386e-07, + "acceleration": 3.1079665063771245e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.657325462176232e-06, + "observation_loss": 4.5300494093680754e-06, + "chamfer": 3.7949955640215194e-06, + "track": 7.350536748162995e-07, + "acceleration": 1.2727599596473738e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.074264208815293e-06, + "observation_loss": 4.988343334844103e-06, + "chamfer": 4.162450750300195e-06, + "track": 8.258926982307457e-07, + "acceleration": 8.592098765802803e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.37838877789909e-06, + "observation_loss": 5.292701189318905e-06, + "chamfer": 4.41246402260731e-06, + "track": 8.802369961813383e-07, + "acceleration": 8.568774489958741e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.601165867119562e-06, + "observation_loss": 5.4986712711979635e-06, + "chamfer": 4.587559487845283e-06, + "track": 9.111117833526805e-07, + "acceleration": 1.0249448934018801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.550145942834206e-06, + "observation_loss": 5.49169271835126e-06, + "chamfer": 4.585388978739502e-06, + "track": 9.063038532985956e-07, + "acceleration": 5.8453029083693764e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.5038581194821745e-06, + "observation_loss": 5.384655196394306e-06, + "chamfer": 4.498079761106055e-06, + "track": 8.86575207914575e-07, + "acceleration": 1.1920290177158677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.238849098532228e-06, + "observation_loss": 5.0343387556495145e-06, + "chamfer": 4.2112014853046276e-06, + "track": 8.231373271883058e-07, + "acceleration": 2.045104281478416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.951868504576851e-06, + "observation_loss": 4.64972208646941e-06, + "chamfer": 3.8933840187382884e-06, + "track": 7.563380677311216e-07, + "acceleration": 3.021463328423124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.651543804357061e-06, + "observation_loss": 4.4689277274301276e-06, + "chamfer": 3.742156877706293e-06, + "track": 7.267707360369968e-07, + "acceleration": 1.8261603429436946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.657611498259939e-06, + "observation_loss": 4.444535989023279e-06, + "chamfer": 3.7179972878220724e-06, + "track": 7.265389285748824e-07, + "acceleration": 2.1307531028469384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.684152372647077e-06, + "observation_loss": 4.406692369229859e-06, + "chamfer": 3.685091314764577e-06, + "track": 7.216011113087006e-07, + "acceleration": 2.774598328869615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.6019767978577875e-06, + "observation_loss": 4.319527761253994e-06, + "chamfer": 3.613627086451743e-06, + "track": 7.059007884890889e-07, + "acceleration": 2.8244880923011806e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.541223006526707e-06, + "observation_loss": 4.27766553912079e-06, + "chamfer": 3.5845018828695174e-06, + "track": 6.931635994078533e-07, + "acceleration": 2.63557524249336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.534064373729052e-06, + "observation_loss": 4.268142220098525e-06, + "chamfer": 3.5733664844883606e-06, + "track": 6.947756787667458e-07, + "acceleration": 2.6592198310027015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.553492999548325e-06, + "observation_loss": 4.265864390617935e-06, + "chamfer": 3.5558180115913274e-06, + "track": 7.100464358700265e-07, + "acceleration": 2.876286941955186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.693523351306794e-06, + "observation_loss": 4.4101980165578425e-06, + "chamfer": 3.6559665659297025e-06, + "track": 7.542312800978834e-07, + "acceleration": 2.833253347489517e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.177501407160889e-06, + "observation_loss": 4.7932667257555295e-06, + "chamfer": 3.944846412196057e-06, + "track": 8.484203135594726e-07, + "acceleration": 3.8423485193561646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.326904101821128e-06, + "observation_loss": 5.063943262939574e-06, + "chamfer": 4.1531366150593385e-06, + "track": 9.108067615670734e-07, + "acceleration": 2.629608673032635e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.509320089913672e-06, + "observation_loss": 5.085139491711743e-06, + "chamfer": 4.175216872681631e-06, + "track": 9.099225621866935e-07, + "acceleration": 4.2418068346705695e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.28551163370139e-06, + "observation_loss": 5.054488610767294e-06, + "chamfer": 4.160424396104645e-06, + "track": 8.94064100975811e-07, + "acceleration": 2.310228097712752e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.441806024464313e-06, + "observation_loss": 5.133716513228137e-06, + "chamfer": 4.230884769640397e-06, + "track": 9.028315730574832e-07, + "acceleration": 3.080893122842099e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.672935458278516e-06, + "observation_loss": 5.283247446641326e-06, + "chamfer": 4.349744813225698e-06, + "track": 9.335025197287905e-07, + "acceleration": 3.8968809690231865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.833203886140836e-06, + "observation_loss": 5.4857018767506815e-06, + "chamfer": 4.509749487624504e-06, + "track": 9.759525028130156e-07, + "acceleration": 3.47501952546736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.221046078280779e-06, + "observation_loss": 5.7214028856833465e-06, + "chamfer": 4.682658982346766e-06, + "track": 1.0387436759629054e-06, + "acceleration": 4.996433631276886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.217938789632171e-06, + "observation_loss": 5.810406037198845e-06, + "chamfer": 4.748084847960854e-06, + "track": 1.0623211892379913e-06, + "acceleration": 4.075326671681978e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.139392553450307e-06, + "observation_loss": 5.9308772506483365e-06, + "chamfer": 4.824164079764159e-06, + "track": 1.1067132845710148e-06, + "acceleration": 2.085154875430817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.354994184221141e-06, + "observation_loss": 6.1926330090500414e-06, + "chamfer": 5.01320619150647e-06, + "track": 1.1794270449172473e-06, + "acceleration": 1.623611751710996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.545959877257701e-06, + "observation_loss": 6.290858436841518e-06, + "chamfer": 5.097770099382615e-06, + "track": 1.1930881100852275e-06, + "acceleration": 2.551012414642173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.1663258748012595e-06, + "observation_loss": 5.992037131363759e-06, + "chamfer": 4.882236225967063e-06, + "track": 1.1098009053966962e-06, + "acceleration": 1.7428854448553466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.769870313088177e-06, + "observation_loss": 5.639028131554369e-06, + "chamfer": 4.608915332937613e-06, + "track": 1.0301127986167558e-06, + "acceleration": 1.3084206784697017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.901791155338287e-06, + "observation_loss": 5.641956704494078e-06, + "chamfer": 4.608547897078097e-06, + "track": 1.0334090347896563e-06, + "acceleration": 2.598343940007908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.158934411359951e-06, + "observation_loss": 5.924292963754851e-06, + "chamfer": 4.813771738554351e-06, + "track": 1.110520997826825e-06, + "acceleration": 2.3464139076168067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.228822257980937e-06, + "observation_loss": 6.110267804615432e-06, + "chamfer": 4.939247446600348e-06, + "track": 1.1710203580150846e-06, + "acceleration": 1.1855436099494909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.331738859444158e-06, + "observation_loss": 6.295909315667814e-06, + "chamfer": 5.074615273770178e-06, + "track": 1.221294041897636e-06, + "acceleration": 3.582966101589591e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.4597675191180315e-06, + "observation_loss": 6.3762604440853465e-06, + "chamfer": 5.1314996198925655e-06, + "track": 1.244760824192781e-06, + "acceleration": 8.35068831861463e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.574550297955284e-06, + "observation_loss": 6.423628292395733e-06, + "chamfer": 5.166663868294563e-06, + "track": 1.2569645377880079e-06, + "acceleration": 1.509219060835676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.761932127119508e-06, + "observation_loss": 6.560413567058276e-06, + "chamfer": 5.27388237969717e-06, + "track": 1.286531301047944e-06, + "acceleration": 2.0151875901319727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1888157435751054e-06, + "observation_loss": 7.026987987046596e-06, + "chamfer": 5.6212779782072175e-06, + "track": 1.4057101225262159e-06, + "acceleration": 1.618279696913305e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.798877959430683e-06, + "observation_loss": 7.659236871404573e-06, + "chamfer": 6.065076831873739e-06, + "track": 1.5941600395308342e-06, + "acceleration": 1.396412017129478e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.348640221811365e-06, + "observation_loss": 8.062577762757428e-06, + "chamfer": 6.352694072120357e-06, + "track": 1.7098841453844216e-06, + "acceleration": 2.860624306322279e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.174630238499958e-06, + "observation_loss": 7.915902642707806e-06, + "chamfer": 6.256742381083313e-06, + "track": 1.6591603753113304e-06, + "acceleration": 2.5872748210531427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.899547199485824e-06, + "observation_loss": 7.64920605433872e-06, + "chamfer": 6.076456429582322e-06, + "track": 1.57274951106956e-06, + "acceleration": 2.503410598819755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.497654223698191e-06, + "observation_loss": 7.4161412157991435e-06, + "chamfer": 5.9051308198831975e-06, + "track": 1.5110105096027837e-06, + "acceleration": 8.151284447421858e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.270999958564062e-06, + "observation_loss": 7.217056463559857e-06, + "chamfer": 5.755914571636822e-06, + "track": 1.4611418919230346e-06, + "acceleration": 5.394347368792296e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.253206149471225e-06, + "observation_loss": 7.189892585302005e-06, + "chamfer": 5.731446435675025e-06, + "track": 1.4584462633138173e-06, + "acceleration": 6.331357127464798e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.311728495551506e-06, + "observation_loss": 7.228563845274039e-06, + "chamfer": 5.7517913774063345e-06, + "track": 1.4767726952413796e-06, + "acceleration": 8.316461475033066e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.331779670494143e-06, + "observation_loss": 7.288082088052761e-06, + "chamfer": 5.79313109483337e-06, + "track": 1.4949511069062282e-06, + "acceleration": 4.369740835841185e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.546125289081829e-06, + "observation_loss": 7.344917321461253e-06, + "chamfer": 5.82067832510802e-06, + "track": 1.5242387689795578e-06, + "acceleration": 2.012078681445928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.872814421716612e-06, + "observation_loss": 7.4052668423973955e-06, + "chamfer": 5.867988875252195e-06, + "track": 1.5372781945188763e-06, + "acceleration": 4.675479203797295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.479071766487323e-06, + "observation_loss": 7.52488813304808e-06, + "chamfer": 5.943050837231567e-06, + "track": 1.5818375231901882e-06, + "acceleration": 9.54183974499756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.039471478899941e-06, + "observation_loss": 7.666327292099595e-06, + "chamfer": 6.055152880435344e-06, + "track": 1.6111744116642512e-06, + "acceleration": 1.373144527860859e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.617283128842246e-06, + "observation_loss": 7.811862815287896e-06, + "chamfer": 6.167427727632457e-06, + "track": 1.6444349739686004e-06, + "acceleration": 8.054201998675126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.481143595417961e-06, + "observation_loss": 8.145784704538528e-06, + "chamfer": 6.41113547317218e-06, + "track": 1.7346492313663475e-06, + "acceleration": 3.353590614096902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.87248279468622e-06, + "observation_loss": 8.614855687483214e-06, + "chamfer": 6.733069312758744e-06, + "track": 1.881786033663957e-06, + "acceleration": 2.576271356247162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.279722689825576e-06, + "observation_loss": 9.168043106910773e-06, + "chamfer": 7.108995305316057e-06, + "track": 2.059048028968391e-06, + "acceleration": 1.1167959712565789e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.548190973873716e-06, + "observation_loss": 9.46352429309627e-06, + "chamfer": 7.307424311875366e-06, + "track": 2.15610020859458e-06, + "acceleration": 8.466675893714637e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.936147762346081e-06, + "observation_loss": 9.668107850302476e-06, + "chamfer": 7.445702522090869e-06, + "track": 2.222405555585283e-06, + "acceleration": 2.6804022468240873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0029718396253884e-05, + "observation_loss": 9.86514896794688e-06, + "chamfer": 7.5548655331658665e-06, + "track": 2.310283889528364e-06, + "acceleration": 1.6456975515666272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.00766137620667e-05, + "observation_loss": 9.963847332983278e-06, + "chamfer": 7.608828127558809e-06, + "track": 2.355018750677118e-06, + "acceleration": 1.1276629408030203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0187274710915517e-05, + "observation_loss": 9.867749213299248e-06, + "chamfer": 7.545876542280894e-06, + "track": 2.3218726710183546e-06, + "acceleration": 3.195256965682347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0418736565043218e-05, + "observation_loss": 9.624230187910143e-06, + "chamfer": 7.399758487736108e-06, + "track": 2.224471927547711e-06, + "acceleration": 7.945059792291431e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0013939572672825e-05, + "observation_loss": 9.539316124573816e-06, + "chamfer": 7.3346091085113585e-06, + "track": 2.2047072434361326e-06, + "acceleration": 4.746238175812323e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.68518725130707e-06, + "observation_loss": 9.481799679633696e-06, + "chamfer": 7.294467195606558e-06, + "track": 2.187332484027138e-06, + "acceleration": 2.0338730166713503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.686724297353067e-06, + "observation_loss": 9.331293767900206e-06, + "chamfer": 7.186878065112978e-06, + "track": 2.144416157534579e-06, + "acceleration": 3.5543007470550947e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0352226126997266e-05, + "observation_loss": 9.249237336916849e-06, + "chamfer": 7.112180810509017e-06, + "track": 2.1370560716604814e-06, + "acceleration": 1.1029891311409301e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2467502529034391e-05, + "observation_loss": 9.491397577221505e-06, + "chamfer": 7.273654773598537e-06, + "track": 2.217743030996644e-06, + "acceleration": 2.9761047244392103e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2316376341914292e-05, + "observation_loss": 9.749530363478698e-06, + "chamfer": 7.442783044098178e-06, + "track": 2.3067470920068445e-06, + "acceleration": 2.566845751061919e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0529017345106695e-05, + "observation_loss": 9.629048690840136e-06, + "chamfer": 7.356987225648481e-06, + "track": 2.272061465191655e-06, + "acceleration": 8.999682563626266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0232845852442551e-05, + "observation_loss": 9.757206498761661e-06, + "chamfer": 7.438377906510141e-06, + "track": 2.3188285922515206e-06, + "acceleration": 4.756396947414032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0081857908517122e-05, + "observation_loss": 9.90012995316647e-06, + "chamfer": 7.521058705606265e-06, + "track": 2.379071247560205e-06, + "acceleration": 1.8172815430261835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0172306247113738e-05, + "observation_loss": 1.0091202057083137e-05, + "chamfer": 7.619159532623598e-06, + "track": 2.4720422970858635e-06, + "acceleration": 8.110447424769518e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0417360499559436e-05, + "observation_loss": 1.0292098522768356e-05, + "chamfer": 7.721561814832967e-06, + "track": 2.5705362531880382e-06, + "acceleration": 1.2526210468877252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0635878425091505e-05, + "observation_loss": 1.0570614904281683e-05, + "chamfer": 7.900871423771605e-06, + "track": 2.6697430257627275e-06, + "acceleration": 6.526331475242841e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.1008597539330367e-05, + "observation_loss": 1.091222839022521e-05, + "chamfer": 8.12902089819545e-06, + "track": 2.7832077194034355e-06, + "acceleration": 9.636948306024351e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1262592124694493e-05, + "observation_loss": 1.116516341426177e-05, + "chamfer": 8.29767668619752e-06, + "track": 2.8674869554379256e-06, + "acceleration": 9.74285043753298e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1349166925356258e-05, + "observation_loss": 1.125948165281443e-05, + "chamfer": 8.343491572304629e-06, + "track": 2.9159900805098005e-06, + "acceleration": 8.968569886746991e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.147202419815585e-05, + "observation_loss": 1.133940077124862e-05, + "chamfer": 8.395303666475229e-06, + "track": 2.9440968773997156e-06, + "acceleration": 1.3262348375064903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.156958478532033e-05, + "observation_loss": 1.1418759640946519e-05, + "chamfer": 8.432595677732024e-06, + "track": 2.9861641905881697e-06, + "acceleration": 1.5082542859090609e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1499021638883278e-05, + "observation_loss": 1.143112876889063e-05, + "chamfer": 8.428778528468683e-06, + "track": 3.002350240421947e-06, + "acceleration": 6.78925218267068e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1644620826700702e-05, + "observation_loss": 1.1439134141255636e-05, + "chamfer": 8.436125426669605e-06, + "track": 3.003008941959706e-06, + "acceleration": 2.054867280776307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1614039067353588e-05, + "observation_loss": 1.1509775504237041e-05, + "chamfer": 8.470751708955504e-06, + "track": 3.0390235679078614e-06, + "acceleration": 1.0426355601111936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.167745631391881e-05, + "observation_loss": 1.1587956578296144e-05, + "chamfer": 8.504136530973483e-06, + "track": 3.0838200473226607e-06, + "acceleration": 8.949981378236771e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1745102710847277e-05, + "observation_loss": 1.1650050510070287e-05, + "chamfer": 8.539294867659919e-06, + "track": 3.1107560971577186e-06, + "acceleration": 9.505242104523859e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1827903108496685e-05, + "observation_loss": 1.1741258276742883e-05, + "chamfer": 8.588793207309209e-06, + "track": 3.1524650694336742e-06, + "acceleration": 8.664462569640818e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1805588655988686e-05, + "observation_loss": 1.1698286471073516e-05, + "chamfer": 8.566158612666186e-06, + "track": 3.132127403659979e-06, + "acceleration": 1.0730224175858893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1623301361396443e-05, + "observation_loss": 1.153236189566087e-05, + "chamfer": 8.462922778562643e-06, + "track": 3.0694386623508763e-06, + "acceleration": 9.093975705809498e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.277870946926669e-06, + "chamfer_mean": 5.697847399233069e-06, + "track_mean": 1.5671357977235327e-06, + "acceleration_mean": 1.012887767548598e-06, + "observation_score": 7.2649831916275316e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4288555410003028 + }, + "score_arrays_file": "pass_scores/pass_end_0291.npz", + "score_arrays_sha256": "6927df77e13b6c87e6b5560fa1d9aa8d7affa37cd3d4d6aa748621cfaa1a1c7d" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0292.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0292.json new file mode 100644 index 0000000000000000000000000000000000000000..4b873940e02e11ed6cad8c82ea6118e9d80d907f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0292.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28032, + "completed_passes": 292, + "snapshot": "pass_end_0292", + "candidate": true, + "snapshot_arrays_sha256": "0d04df1121d99dc692937ddeb115041bc9c53222eaf78cdc88ec92a03e0a444b", + "score": 7.260648925940434e-06, + "score_result": { + "score": 7.260648925940434e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8744882456521736e-06, + 3.160292180837132e-06, + 3.30158150063653e-06, + 3.7343017993407557e-06, + 4.25859798269812e-06, + 4.467066446522949e-06, + 4.232619630784029e-06, + 4.102255388716003e-06, + 4.041565262014046e-06, + 4.149394499108894e-06, + 4.527041710389312e-06, + 4.985728082829155e-06, + 5.290658009471372e-06, + 5.497030542755965e-06, + 5.490486273629358e-06, + 5.38317999598803e-06, + 5.0324333642493e-06, + 4.647471996577224e-06, + 4.466352038434707e-06, + 4.44231500296155e-06, + 4.40394342149375e-06, + 4.315623755246634e-06, + 4.2732963265734725e-06, + 4.2638394006644376e-06, + 4.2625138121366035e-06, + 4.409002485772362e-06, + 4.7936673581716605e-06, + 5.0645185183384456e-06, + 5.084697022539331e-06, + 5.053198037785478e-06, + 5.1339029596420005e-06, + 5.28475266037276e-06, + 5.49013839190593e-06, + 5.725834853365086e-06, + 5.814024007122498e-06, + 5.934572982368991e-06, + 6.196135473146569e-06, + 6.293201295193285e-06, + 5.991525085846661e-06, + 5.636404694087105e-06, + 5.637747563014273e-06, + 5.918956503592199e-06, + 6.104673502704827e-06, + 6.290321380220121e-06, + 6.370294613589067e-06, + 6.417996701202355e-06, + 6.55543408356607e-06, + 7.021390956651885e-06, + 7.652234671695624e-06, + 8.054671525314916e-06, + 7.908020961622242e-06, + 7.642396667506546e-06, + 7.410131729557179e-06, + 7.212005584733561e-06, + 7.185692538769217e-06, + 7.224832188512664e-06, + 7.284605999302585e-06, + 7.341859600273892e-06, + 7.402284609270282e-06, + 7.522137366322568e-06, + 7.66377524996642e-06, + 7.809104317857418e-06, + 8.14242048363667e-06, + 8.61126318341121e-06, + 9.16434328246396e-06, + 9.459787179366685e-06, + 9.664278877608012e-06, + 9.861550097411964e-06, + 9.960671377484687e-06, + 9.864736057352275e-06, + 9.621318895369768e-06, + 9.536267498333473e-06, + 9.47880107560195e-06, + 9.32751481741434e-06, + 9.246993613487575e-06, + 9.485285772825591e-06, + 9.744526323629543e-06, + 9.6263111117878e-06, + 9.754736311151646e-06, + 9.894704817270394e-06, + 1.0083344932354521e-05, + 1.028236420097528e-05, + 1.0558931535342708e-05, + 1.0900236702582333e-05, + 1.1151920261909254e-05, + 1.1245978384977207e-05, + 1.1325512787152547e-05, + 1.1405874829506502e-05, + 1.1417636414989829e-05, + 1.1425470802350901e-05, + 1.1496937077026814e-05, + 1.1574706149986014e-05, + 1.1636469025688712e-05, + 1.1727552191587165e-05, + 1.1684728633554187e-05, + 1.151890137407463e-05 + ] + ], + "episode_mean_losses": [ + 7.260648925940434e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8744882456521736e-06, + "observation_loss": 2.8744882456521736e-06, + "chamfer": 2.43849353864789e-06, + "track": 4.3599462173915526e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1508297726977617e-05, + "observation_loss": 3.160292180837132e-06, + "chamfer": 2.672931032066117e-06, + "track": 4.873612624578527e-07, + "acceleration": 3.834800372715108e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.344607491977513e-05, + "observation_loss": 3.30158150063653e-06, + "chamfer": 2.7949527066084556e-06, + "track": 5.066287940280745e-07, + "acceleration": 2.0144492737017572e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.023325057758484e-05, + "observation_loss": 3.7343017993407557e-06, + "chamfer": 3.148936684738146e-06, + "track": 5.853651714460284e-07, + "acceleration": 6.49894900561776e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.255361313378671e-06, + "observation_loss": 4.25859798269812e-06, + "chamfer": 3.571440402083681e-06, + "track": 6.871575237710204e-07, + "acceleration": 1.996763330680551e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.6744966059341095e-06, + "observation_loss": 4.467066446522949e-06, + "chamfer": 3.7376873933681054e-06, + "track": 7.29378996311425e-07, + "acceleration": 1.2074301594111603e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.943985004501883e-06, + "observation_loss": 4.232619630784029e-06, + "chamfer": 3.546977040969068e-06, + "track": 6.856427603452175e-07, + "acceleration": 7.113652031875972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.617182185029378e-06, + "observation_loss": 4.102255388716003e-06, + "chamfer": 3.443252808210673e-06, + "track": 6.59002637348749e-07, + "acceleration": 5.149266826265375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.499291208048817e-06, + "observation_loss": 4.041565262014046e-06, + "chamfer": 3.3969056403293507e-06, + "track": 6.446593943110202e-07, + "acceleration": 4.5772614498673647e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.459374395082705e-06, + "observation_loss": 4.149394499108894e-06, + "chamfer": 3.4854970181186218e-06, + "track": 6.638976515205286e-07, + "acceleration": 3.099799812389392e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.65452876596828e-06, + "observation_loss": 4.527041710389312e-06, + "chamfer": 3.792505822275416e-06, + "track": 7.345360018007341e-07, + "acceleration": 1.2748722610922414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.071680789114907e-06, + "observation_loss": 4.985728082829155e-06, + "chamfer": 4.160305252298713e-06, + "track": 8.254228873738612e-07, + "acceleration": 8.595292655400044e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.376656190492213e-06, + "observation_loss": 5.290658009471372e-06, + "chamfer": 4.410794190334855e-06, + "track": 8.798637622930983e-07, + "acceleration": 8.599803891229385e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.599455107585527e-06, + "observation_loss": 5.497030542755965e-06, + "chamfer": 4.586231170833344e-06, + "track": 9.107993719226215e-07, + "acceleration": 1.0242467851639958e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.5489617807324976e-06, + "observation_loss": 5.490486273629358e-06, + "chamfer": 4.5844294618291315e-06, + "track": 9.060566981133888e-07, + "acceleration": 5.84753117038872e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.502435669768602e-06, + "observation_loss": 5.38317999598803e-06, + "chamfer": 4.496898782235803e-06, + "track": 8.862812705956458e-07, + "acceleration": 1.1925573062399053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.237076948105823e-06, + "observation_loss": 5.0324333642493e-06, + "chamfer": 4.20965852754307e-06, + "track": 8.227750640799059e-07, + "acceleration": 2.0464369754336076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.950111815560376e-06, + "observation_loss": 4.647471996577224e-06, + "chamfer": 3.891556843882427e-06, + "track": 7.559150958513783e-07, + "acceleration": 3.026396200311865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.648099093174096e-06, + "observation_loss": 4.466352038434707e-06, + "chamfer": 3.7400332075776532e-06, + "track": 7.26318603483378e-07, + "acceleration": 1.81747182637082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.655173142964486e-06, + "observation_loss": 4.44231500296155e-06, + "chamfer": 3.7161685213504825e-06, + "track": 7.261465952979052e-07, + "acceleration": 2.12858296322338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6813861445116345e-06, + "observation_loss": 4.40394342149375e-06, + "chamfer": 3.682828946693917e-06, + "track": 7.211146453300898e-07, + "acceleration": 2.774428082830127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.597143743012566e-06, + "observation_loss": 4.315623755246634e-06, + "chamfer": 3.610428166211932e-06, + "track": 7.051957027215394e-07, + "acceleration": 2.8152007303106075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.539896963251522e-06, + "observation_loss": 4.2732963265734725e-06, + "chamfer": 3.580934389901813e-06, + "track": 6.923617092979839e-07, + "acceleration": 2.666008072083059e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.531842932919972e-06, + "observation_loss": 4.2638394006644376e-06, + "chamfer": 3.569808086467674e-06, + "track": 6.940312005099258e-07, + "acceleration": 2.6800370278579067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.550257472146768e-06, + "observation_loss": 4.2625138121366035e-06, + "chamfer": 3.5529826618585503e-06, + "track": 7.09531263964891e-07, + "acceleration": 2.8774368843187403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.691487902164226e-06, + "observation_loss": 4.409002485772362e-06, + "chamfer": 3.6549522519635502e-06, + "track": 7.540504043390683e-07, + "acceleration": 2.8248561534383043e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.176128979655914e-06, + "observation_loss": 4.7936673581716605e-06, + "chamfer": 3.945111529901624e-06, + "track": 8.485559988002933e-07, + "acceleration": 3.8246182043621957e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.327724920789478e-06, + "observation_loss": 5.0645185183384456e-06, + "chamfer": 4.153492682235083e-06, + "track": 9.110257224165252e-07, + "acceleration": 2.632065445595799e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.50681579625234e-06, + "observation_loss": 5.084697022539331e-06, + "chamfer": 4.174750756646972e-06, + "track": 9.099460953621019e-07, + "acceleration": 4.22118546339334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.283352948026732e-06, + "observation_loss": 5.053198037785478e-06, + "chamfer": 4.159389391134027e-06, + "track": 8.938087034948694e-07, + "acceleration": 2.301548391869801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.442283963930095e-06, + "observation_loss": 5.1339029596420005e-06, + "chamfer": 4.2310803110012785e-06, + "track": 9.028225349538843e-07, + "acceleration": 3.0838086217954697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.69364692637464e-06, + "observation_loss": 5.28475266037276e-06, + "chamfer": 4.351066309027374e-06, + "track": 9.336861239717109e-07, + "acceleration": 4.088940386282047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.861638783244416e-06, + "observation_loss": 5.49013839190593e-06, + "chamfer": 4.513388375926297e-06, + "track": 9.767501296664705e-07, + "acceleration": 3.7150050502532395e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.264422154345084e-06, + "observation_loss": 5.725834853365086e-06, + "chamfer": 4.6862523959134705e-06, + "track": 1.0395824574516155e-06, + "acceleration": 5.385871304497414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.260874215513468e-06, + "observation_loss": 5.814024007122498e-06, + "chamfer": 4.751087544718757e-06, + "track": 1.062936348716903e-06, + "acceleration": 4.4685006628242263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.168505478854058e-06, + "observation_loss": 5.934572982368991e-06, + "chamfer": 4.8271117520926055e-06, + "track": 1.107461343963223e-06, + "acceleration": 2.3393232595481095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.366630714182975e-06, + "observation_loss": 6.196135473146569e-06, + "chamfer": 5.015960596210789e-06, + "track": 1.1801751043094555e-06, + "acceleration": 1.7049514156042278e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.5472277128719725e-06, + "observation_loss": 6.293201295193285e-06, + "chamfer": 5.0994653975067195e-06, + "track": 1.1937358976865653e-06, + "acceleration": 2.5402636083526886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.166062576085096e-06, + "observation_loss": 5.991525085846661e-06, + "chamfer": 4.881696895608911e-06, + "track": 1.1098280765509116e-06, + "acceleration": 1.745373339190337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.762983619206352e-06, + "observation_loss": 5.636404694087105e-06, + "chamfer": 4.606669790518936e-06, + "track": 1.0297350172550068e-06, + "acceleration": 1.26578740378136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.894284186069854e-06, + "observation_loss": 5.637747563014273e-06, + "chamfer": 4.605075901054079e-06, + "track": 1.0326717756470316e-06, + "acceleration": 2.565365377904527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.151684374344768e-06, + "observation_loss": 5.918956503592199e-06, + "chamfer": 4.809516667592106e-06, + "track": 1.1094398360000923e-06, + "acceleration": 2.3272785654171457e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.223037871677661e-06, + "observation_loss": 6.104673502704827e-06, + "chamfer": 4.934791832056362e-06, + "track": 1.1698815569616272e-06, + "acceleration": 1.1836458924108229e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.325557933450909e-06, + "observation_loss": 6.290321380220121e-06, + "chamfer": 5.070176939625526e-06, + "track": 1.2201443269077572e-06, + "acceleration": 3.5236389805959334e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.4531263888056856e-06, + "observation_loss": 6.370294613589067e-06, + "chamfer": 5.1267734306748025e-06, + "track": 1.243520955540589e-06, + "acceleration": 8.283167574063555e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.568750904989429e-06, + "observation_loss": 6.417996701202355e-06, + "chamfer": 5.162227807886666e-06, + "track": 1.2557688933156896e-06, + "acceleration": 1.507543885281848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.756335096724797e-06, + "observation_loss": 6.55543408356607e-06, + "chamfer": 5.270016117719933e-06, + "track": 1.2854181932198117e-06, + "acceleration": 2.0090092789359915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.183247362263501e-06, + "observation_loss": 7.021390956651885e-06, + "chamfer": 5.6170401876443066e-06, + "track": 1.4043506553207408e-06, + "acceleration": 1.6185632034648734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.792249562044162e-06, + "observation_loss": 7.652234671695624e-06, + "chamfer": 6.059869519958738e-06, + "track": 1.5923653791105608e-06, + "acceleration": 1.4001477666170103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.341236025444232e-06, + "observation_loss": 8.054671525314916e-06, + "chamfer": 6.347099315462401e-06, + "track": 1.7075718687920016e-06, + "acceleration": 2.8656435802076885e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.168614840542432e-06, + "observation_loss": 7.908020961622242e-06, + "chamfer": 6.251130798773374e-06, + "track": 1.6568901628488675e-06, + "acceleration": 2.6059379365506175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.8930197560112e-06, + "observation_loss": 7.642396667506546e-06, + "chamfer": 6.0714946812368e-06, + "track": 1.570901986269746e-06, + "acceleration": 2.5062348640858545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4922468229488e-06, + "observation_loss": 7.410131729557179e-06, + "chamfer": 5.900543328607455e-06, + "track": 1.5095882872628863e-06, + "acceleration": 8.211512891875827e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2656453085073736e-06, + "observation_loss": 7.212005584733561e-06, + "chamfer": 5.752042852691375e-06, + "track": 1.4599628457290237e-06, + "acceleration": 5.363976285366334e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.249170721479459e-06, + "observation_loss": 7.185692538769217e-06, + "chamfer": 5.7282522902823985e-06, + "track": 1.4574402484868187e-06, + "acceleration": 6.347804770712173e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.308209660550347e-06, + "observation_loss": 7.224832188512664e-06, + "chamfer": 5.748888725065626e-06, + "track": 1.4759432360733626e-06, + "acceleration": 8.337764256793889e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.328435458475724e-06, + "observation_loss": 7.284605999302585e-06, + "chamfer": 5.79041216042242e-06, + "track": 1.494193611506489e-06, + "acceleration": 4.3829455620425506e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.542820185335586e-06, + "observation_loss": 7.341859600273892e-06, + "chamfer": 5.818340923724463e-06, + "track": 1.5235184491757536e-06, + "acceleration": 2.009604429531464e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.869630280765705e-06, + "observation_loss": 7.402284609270282e-06, + "chamfer": 5.865683760930551e-06, + "track": 1.5366009620265686e-06, + "acceleration": 4.673460409776453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.476596121909097e-06, + "observation_loss": 7.522137366322568e-06, + "chamfer": 5.9409826462797355e-06, + "track": 1.58115483372967e-06, + "acceleration": 9.544585282128537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.038792995852418e-06, + "observation_loss": 7.66377524996642e-06, + "chamfer": 6.053242032066919e-06, + "track": 1.6105336726468522e-06, + "acceleration": 1.3750176321991603e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.615019396529533e-06, + "observation_loss": 7.809104317857418e-06, + "chamfer": 6.165333161334274e-06, + "track": 1.6437711565231439e-06, + "acceleration": 8.059151923589525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.477840310661122e-06, + "observation_loss": 8.14242048363667e-06, + "chamfer": 6.408593890228076e-06, + "track": 1.733826138661243e-06, + "acceleration": 3.3541999755470897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.869062185112853e-06, + "observation_loss": 8.61126318341121e-06, + "chamfer": 6.730417680955725e-06, + "track": 1.8808457298291614e-06, + "acceleration": 2.5779891643651354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.2762984422734e-06, + "observation_loss": 9.16434328246396e-06, + "chamfer": 7.106322755134897e-06, + "track": 2.058020527329063e-06, + "acceleration": 1.1195501059546586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.544768545310944e-06, + "observation_loss": 9.459787179366685e-06, + "chamfer": 7.304773134819698e-06, + "track": 2.1550142719206633e-06, + "acceleration": 8.498174963733618e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.932538887369446e-06, + "observation_loss": 9.664278877608012e-06, + "chamfer": 7.442995411111042e-06, + "track": 2.2212834664969705e-06, + "acceleration": 2.6826009502656234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0026557902165223e-05, + "observation_loss": 9.861550097411964e-06, + "chamfer": 7.552352144557517e-06, + "track": 2.3091981802281225e-06, + "acceleration": 1.6500781896411354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0073629709950183e-05, + "observation_loss": 9.960671377484687e-06, + "chamfer": 7.606712642882485e-06, + "track": 2.353958279854851e-06, + "acceleration": 1.1295860957716286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0185133760387544e-05, + "observation_loss": 9.864736057352275e-06, + "chamfer": 7.543931587861152e-06, + "track": 2.320804924238473e-06, + "acceleration": 3.2039764619185007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0416446457384154e-05, + "observation_loss": 9.621318895369768e-06, + "chamfer": 7.397800345643191e-06, + "track": 2.2235185497265775e-06, + "acceleration": 7.951271072670352e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0011377526097931e-05, + "observation_loss": 9.536267498333473e-06, + "chamfer": 7.332555924222106e-06, + "track": 2.203711801485042e-06, + "acceleration": 4.7510968670394504e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.682702511781827e-06, + "observation_loss": 9.47880107560195e-06, + "chamfer": 7.2924772211990785e-06, + "track": 2.1863236270291964e-06, + "acceleration": 2.039017772403895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.666692676546518e-06, + "observation_loss": 9.32751481741434e-06, + "chamfer": 7.184111382230185e-06, + "track": 2.1434034351841547e-06, + "acceleration": 3.3917785913217813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0276725333824288e-05, + "observation_loss": 9.246993613487575e-06, + "chamfer": 7.111103514034767e-06, + "track": 2.135890326826484e-06, + "acceleration": 1.0297313792761997e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.250955210707616e-05, + "observation_loss": 9.485285772825591e-06, + "chamfer": 7.26911639503669e-06, + "track": 2.2161696051625768e-06, + "acceleration": 3.0242658795032185e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2360970686131623e-05, + "observation_loss": 9.744526323629543e-06, + "chamfer": 7.439120508934138e-06, + "track": 2.3054055873217294e-06, + "acceleration": 2.6164443625020795e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.052643438015366e-05, + "observation_loss": 9.6263111117878e-06, + "chamfer": 7.355072739301249e-06, + "track": 2.271238145112875e-06, + "acceleration": 9.001235525829543e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.024386438075453e-05, + "observation_loss": 9.754736311151646e-06, + "chamfer": 7.436583018716192e-06, + "track": 2.3181535198091296e-06, + "acceleration": 4.891281832897221e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0074960300698876e-05, + "observation_loss": 9.894704817270394e-06, + "chamfer": 7.517569883930264e-06, + "track": 2.377134705966455e-06, + "acceleration": 1.8025529868737067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0157497854379471e-05, + "observation_loss": 1.0083344932354521e-05, + "chamfer": 7.614353307872079e-06, + "track": 2.468991851856117e-06, + "acceleration": 7.415318492576262e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0402279258414637e-05, + "observation_loss": 1.028236420097528e-05, + "chamfer": 7.715773790550884e-06, + "track": 2.566590637798072e-06, + "acceleration": 1.199151995479042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.062555929820519e-05, + "observation_loss": 1.0558931535342708e-05, + "chamfer": 7.893865586083848e-06, + "track": 2.6650654945115093e-06, + "acceleration": 6.662759943765195e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0999079677276313e-05, + "observation_loss": 1.0900236702582333e-05, + "chamfer": 8.122120561893098e-06, + "track": 2.778116140689235e-06, + "acceleration": 9.884283258543292e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.124886330217123e-05, + "observation_loss": 1.1151920261909254e-05, + "chamfer": 8.290159712487366e-06, + "track": 2.8617607767955633e-06, + "acceleration": 9.694316815966886e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1334970622556284e-05, + "observation_loss": 1.1245978384977207e-05, + "chamfer": 8.335693564731628e-06, + "track": 2.910284365498228e-06, + "acceleration": 8.899186099142753e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1459934285085183e-05, + "observation_loss": 1.1325512787152547e-05, + "chamfer": 8.387315574509557e-06, + "track": 2.93819721264299e-06, + "acceleration": 1.3442188162571256e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1558008736756165e-05, + "observation_loss": 1.1405874829506502e-05, + "chamfer": 8.42530425870791e-06, + "track": 2.98057011605124e-06, + "acceleration": 1.5213430515359505e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1485636605357286e-05, + "observation_loss": 1.1417636414989829e-05, + "chamfer": 8.421075108344667e-06, + "track": 2.996561079271487e-06, + "acceleration": 6.800045326826876e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.162944045063341e-05, + "observation_loss": 1.1425470802350901e-05, + "chamfer": 8.428216460742988e-06, + "track": 2.9972547963552643e-06, + "acceleration": 2.039696482825093e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1599708159337752e-05, + "observation_loss": 1.1496937077026814e-05, + "chamfer": 8.463447557005566e-06, + "track": 3.033489747394924e-06, + "acceleration": 1.0277131679004015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1664257726806682e-05, + "observation_loss": 1.1574706149986014e-05, + "chamfer": 8.496579539496452e-06, + "track": 3.0781263831158867e-06, + "acceleration": 8.955174024549706e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.173171040136367e-05, + "observation_loss": 1.1636469025688712e-05, + "chamfer": 8.531679668521974e-06, + "track": 3.1047893571667373e-06, + "acceleration": 9.52417238408998e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1814547178801149e-05, + "observation_loss": 1.1727552191587165e-05, + "chamfer": 8.58118619362358e-06, + "track": 3.146366452710936e-06, + "acceleration": 8.699523590394165e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1792717486969195e-05, + "observation_loss": 1.1684728633554187e-05, + "chamfer": 8.55870712257456e-06, + "track": 3.1260215109796263e-06, + "acceleration": 1.0798920158094916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.16099927254254e-05, + "observation_loss": 1.151890137407463e-05, + "chamfer": 8.455340321233962e-06, + "track": 3.0635608254669933e-06, + "acceleration": 9.10914863538892e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.274830901674099e-06, + "chamfer_mean": 5.694952894449064e-06, + "track_mean": 1.5656960323795488e-06, + "acceleration_mean": 1.0141819726620465e-06, + "observation_score": 7.260648925940434e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4302970209992054 + }, + "score_arrays_file": "pass_scores/pass_end_0292.npz", + "score_arrays_sha256": "2fb18074f6fd3814272f9ee7cb903fcf6429acd17600412a0c52ba5c74b359fb" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0293.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0293.json new file mode 100644 index 0000000000000000000000000000000000000000..e082eba30d157e2c6b7f5bc736fb09d92c52686e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0293.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28128, + "completed_passes": 293, + "snapshot": "pass_end_0293", + "candidate": true, + "snapshot_arrays_sha256": "a578e38ff94e72cfc25e3186be5cadda1cb0413915c3e5e7fc8a9b76d595f613", + "score": 7.2565294620593095e-06, + "score_result": { + "score": 7.2565294620593095e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8743461371050216e-06, + 3.1600877719029086e-06, + 3.2998846108966973e-06, + 3.732577852133545e-06, + 4.256305146554951e-06, + 4.465159690880682e-06, + 4.230312697472982e-06, + 4.099422767467331e-06, + 4.038850420329254e-06, + 4.1468924791843165e-06, + 4.52500898973085e-06, + 4.983913640899118e-06, + 5.288975444273092e-06, + 5.495414370670915e-06, + 5.489000159286661e-06, + 5.381713890528772e-06, + 5.030314241594169e-06, + 4.644944965548348e-06, + 4.463740424398566e-06, + 4.439804342837306e-06, + 4.400985289976234e-06, + 4.3117834138683975e-06, + 4.268465090717655e-06, + 4.259421075403225e-06, + 4.259030902176164e-06, + 4.407470896694576e-06, + 4.793857897311682e-06, + 5.064909146312857e-06, + 5.084105396235827e-06, + 5.0514972826931626e-06, + 5.1330939641047735e-06, + 5.285782663122518e-06, + 5.493285698321415e-06, + 5.7290890254080296e-06, + 5.816488737764303e-06, + 5.937641617492773e-06, + 6.199837116582785e-06, + 6.296692845353391e-06, + 5.992043497826671e-06, + 5.633751243294682e-06, + 5.633995897369459e-06, + 5.914577741350513e-06, + 6.099854090280132e-06, + 6.285185008891858e-06, + 6.3647971728642005e-06, + 6.412819402612513e-06, + 6.550342732225545e-06, + 7.0157057052711025e-06, + 7.645282494195271e-06, + 8.04744558990933e-06, + 7.900660421000794e-06, + 7.635620931978337e-06, + 7.403746167256031e-06, + 7.206570444395766e-06, + 7.180963621067349e-06, + 7.220266070362413e-06, + 7.280683348653838e-06, + 7.3380456342420075e-06, + 7.398323759844061e-06, + 7.518360689573456e-06, + 7.660323717573192e-06, + 7.805330824339762e-06, + 8.138738849083893e-06, + 8.607951713202056e-06, + 9.161689376924187e-06, + 9.457960914005525e-06, + 9.662617230787873e-06, + 9.86025497695664e-06, + 9.959572707884945e-06, + 9.863761079031974e-06, + 9.619907359592617e-06, + 9.534656783216633e-06, + 9.476892046222929e-06, + 9.324960956291761e-06, + 9.245979526895098e-06, + 9.480194421485066e-06, + 9.740201676322613e-06, + 9.623889127396978e-06, + 9.752038749866188e-06, + 9.890174624160863e-06, + 1.0076246326207183e-05, + 1.0273425687046256e-05, + 1.0548404134169687e-05, + 1.0888710676226765e-05, + 1.113909820560366e-05, + 1.1232680662942585e-05, + 1.1311938578728586e-05, + 1.1393209206289612e-05, + 1.1404335964471102e-05, + 1.1412123967602383e-05, + 1.148399223893648e-05, + 1.1561531209736131e-05, + 1.1623391401371919e-05, + 1.1714229003700893e-05, + 1.1671486390696373e-05, + 1.1505778275022749e-05 + ] + ], + "episode_mean_losses": [ + 7.2565294620593095e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8743461371050216e-06, + "observation_loss": 2.8743461371050216e-06, + "chamfer": 2.438367346258019e-06, + "track": 4.3597879084700253e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1504034015815705e-05, + "observation_loss": 3.1600877719029086e-06, + "chamfer": 2.672751406862517e-06, + "track": 4.873363650403917e-07, + "acceleration": 3.8343947380781174e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.343135747651104e-05, + "observation_loss": 3.2998846108966973e-06, + "chamfer": 2.7935398065892514e-06, + "track": 5.063448611508647e-07, + "acceleration": 2.013147241086699e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0227277016383596e-05, + "observation_loss": 3.732577852133545e-06, + "chamfer": 3.1475092328037135e-06, + "track": 5.850685624864127e-07, + "acceleration": 6.494699391623726e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.236663921299623e-06, + "observation_loss": 4.256305146554951e-06, + "chamfer": 3.5695682072400814e-06, + "track": 6.86737053001707e-07, + "acceleration": 1.9803587747446727e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.6671510719752405e-06, + "observation_loss": 4.465159690880682e-06, + "chamfer": 3.73613033843867e-06, + "track": 7.290292387551744e-07, + "acceleration": 1.2019914947813959e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.937885478284443e-06, + "observation_loss": 4.230312697472982e-06, + "chamfer": 3.54507483280031e-06, + "track": 6.852376372989966e-07, + "acceleration": 7.075726102812041e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.615681064024102e-06, + "observation_loss": 4.099422767467331e-06, + "chamfer": 3.440904947638046e-06, + "track": 6.585175924556097e-07, + "acceleration": 5.162584670870274e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.497470854403218e-06, + "observation_loss": 4.038850420329254e-06, + "chamfer": 3.3946607800316997e-06, + "track": 6.44189412923879e-07, + "acceleration": 4.5862037723054527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.4566554606717546e-06, + "observation_loss": 4.1468924791843165e-06, + "chamfer": 3.483412911009509e-06, + "track": 6.634796250182262e-07, + "acceleration": 3.097628109571815e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.652482402889291e-06, + "observation_loss": 4.52500898973085e-06, + "chamfer": 3.7908080230408814e-06, + "track": 7.34200739316293e-07, + "acceleration": 1.2747347000185982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.070063252787804e-06, + "observation_loss": 4.983913640899118e-06, + "chamfer": 4.158791853114963e-06, + "track": 8.251217877841555e-07, + "acceleration": 8.614943425300225e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.374943611968774e-06, + "observation_loss": 5.288975444273092e-06, + "chamfer": 4.409401299199089e-06, + "track": 8.795742587608402e-07, + "acceleration": 8.596833112051172e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.5980272009037435e-06, + "observation_loss": 5.495414370670915e-06, + "chamfer": 4.584912403515773e-06, + "track": 9.105021376853983e-07, + "acceleration": 1.0261298655223072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.547355158341816e-06, + "observation_loss": 5.489000159286661e-06, + "chamfer": 4.583234840538353e-06, + "track": 9.057652050614706e-07, + "acceleration": 5.83549351063084e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.500820861925604e-06, + "observation_loss": 5.381713890528772e-06, + "chamfer": 4.495721896091709e-06, + "track": 8.859919944370631e-07, + "acceleration": 1.1910708508366952e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.234310719970381e-06, + "observation_loss": 5.030314241594169e-06, + "chamfer": 4.20793003286235e-06, + "track": 8.223839813581435e-07, + "acceleration": 2.039962936351003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.946879016642924e-06, + "observation_loss": 4.644944965548348e-06, + "chamfer": 3.889495928888209e-06, + "track": 7.554489798167197e-07, + "acceleration": 3.019340226728673e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.644671662390465e-06, + "observation_loss": 4.463740424398566e-06, + "chamfer": 3.7378797514975304e-06, + "track": 7.258606160576164e-07, + "acceleration": 1.8093140852215583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.6520030991814565e-06, + "observation_loss": 4.439804342837306e-06, + "chamfer": 3.714095328177791e-06, + "track": 7.257091851897712e-07, + "acceleration": 2.121988131875696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.679388894146541e-06, + "observation_loss": 4.400985289976234e-06, + "chamfer": 3.6803878629143583e-06, + "track": 7.205975975921319e-07, + "acceleration": 2.7840374627885467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.592531695379876e-06, + "observation_loss": 4.3117834138683975e-06, + "chamfer": 3.6072760849492624e-06, + "track": 7.045073857625539e-07, + "acceleration": 2.807483667766064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.537980203167535e-06, + "observation_loss": 4.268465090717655e-06, + "chamfer": 3.5769769510807237e-06, + "track": 6.914880259500933e-07, + "acceleration": 2.6951488507620525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.5319393393583596e-06, + "observation_loss": 4.259421075403225e-06, + "chamfer": 3.566158056855784e-06, + "track": 6.932630185474409e-07, + "acceleration": 2.725182639551349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.5495953600038774e-06, + "observation_loss": 4.259030902176164e-06, + "chamfer": 3.550049768819008e-06, + "track": 7.089811333571561e-07, + "acceleration": 2.905646852013888e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.689711204264313e-06, + "observation_loss": 4.407470896694576e-06, + "chamfer": 3.6536703191814013e-06, + "track": 7.538004638263374e-07, + "acceleration": 2.822403644131555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.174267698748736e-06, + "observation_loss": 4.793857897311682e-06, + "chamfer": 3.945222033507889e-06, + "track": 8.486356932735362e-07, + "acceleration": 3.804098867021821e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.328368843038334e-06, + "observation_loss": 5.064909146312857e-06, + "chamfer": 4.153694135311525e-06, + "track": 9.112151815315883e-07, + "acceleration": 2.6345981041231425e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.504226010089042e-06, + "observation_loss": 5.084105396235827e-06, + "chamfer": 4.174174137006048e-06, + "track": 9.099310318561038e-07, + "acceleration": 4.2012075596176146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.279678134684218e-06, + "observation_loss": 5.0514972826931626e-06, + "chamfer": 4.1580228753446136e-06, + "track": 8.934742368182924e-07, + "acceleration": 2.2818103673216683e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.437416348286206e-06, + "observation_loss": 5.1330939641047735e-06, + "chamfer": 4.230478225508705e-06, + "track": 9.02615624909231e-07, + "acceleration": 3.043223841814324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.69732492294861e-06, + "observation_loss": 5.285782663122518e-06, + "chamfer": 4.35199808634934e-06, + "track": 9.337846336165967e-07, + "acceleration": 4.115422314043826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.868379957973957e-06, + "observation_loss": 5.493285698321415e-06, + "chamfer": 4.516067292570369e-06, + "track": 9.772185194378835e-07, + "acceleration": 3.7509408912228537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.280543857428711e-06, + "observation_loss": 5.7290890254080296e-06, + "chamfer": 4.689063644036651e-06, + "track": 1.0400254950582166e-06, + "acceleration": 5.514550025509379e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.279277386056492e-06, + "observation_loss": 5.816488737764303e-06, + "chamfer": 4.753306711791083e-06, + "track": 1.0631821396600571e-06, + "acceleration": 4.627885914487706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.194508387125097e-06, + "observation_loss": 5.937641617492773e-06, + "chamfer": 4.829600584344007e-06, + "track": 1.1080411468356033e-06, + "acceleration": 2.568666843671963e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.374434633471537e-06, + "observation_loss": 6.199837116582785e-06, + "chamfer": 5.018835963710444e-06, + "track": 1.1810009254986653e-06, + "acceleration": 1.7459748846704315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.554010269610444e-06, + "observation_loss": 6.296692845353391e-06, + "chamfer": 5.10203562953393e-06, + "track": 1.1946574431931367e-06, + "acceleration": 2.5731759478730964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.166822913655778e-06, + "observation_loss": 5.992043497826671e-06, + "chamfer": 4.881958830083022e-06, + "track": 1.1100845540568116e-06, + "acceleration": 1.7477947267252603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.757126018579584e-06, + "observation_loss": 5.633751243294682e-06, + "chamfer": 4.604438800015487e-06, + "track": 1.029312670652871e-06, + "acceleration": 1.233750026585767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.888980467716465e-06, + "observation_loss": 5.633995897369459e-06, + "chamfer": 4.6019927140150685e-06, + "track": 1.0320029559807153e-06, + "acceleration": 2.549843713950395e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.1463033489417285e-06, + "observation_loss": 5.914577741350513e-06, + "chamfer": 4.806022843695246e-06, + "track": 1.1085546702815918e-06, + "acceleration": 2.3172543706095894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.217675036168657e-06, + "observation_loss": 6.099854090280132e-06, + "chamfer": 4.930941031489056e-06, + "track": 1.168912945104239e-06, + "acceleration": 1.178208250962598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.320909506030148e-06, + "observation_loss": 6.285185008891858e-06, + "chamfer": 5.0660969463933725e-06, + "track": 1.2190882898721611e-06, + "acceleration": 3.572451845457181e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.447796749853296e-06, + "observation_loss": 6.3647971728642005e-06, + "chamfer": 5.122436959936749e-06, + "track": 1.2423602129274514e-06, + "acceleration": 8.299958409452302e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.563157057826174e-06, + "observation_loss": 6.412819402612513e-06, + "chamfer": 5.158125532034319e-06, + "track": 1.2546939842650318e-06, + "acceleration": 1.5033768363537092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.75018600304611e-06, + "observation_loss": 6.550342732225545e-06, + "chamfer": 5.266032985673519e-06, + "track": 1.2843098602388636e-06, + "acceleration": 1.9984322818800138e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.177443876571488e-06, + "observation_loss": 7.0157057052711025e-06, + "chamfer": 5.612740096694324e-06, + "track": 1.4029654948899406e-06, + "acceleration": 1.6173824235465872e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.78581579652382e-06, + "observation_loss": 7.645282494195271e-06, + "chamfer": 6.054664481780492e-06, + "track": 1.5906178987279418e-06, + "acceleration": 1.4053334496111347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.333200639754068e-06, + "observation_loss": 8.04744558990933e-06, + "chamfer": 6.34191246717819e-06, + "track": 1.7055327816706267e-06, + "acceleration": 2.8575462351909664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.160902325471397e-06, + "observation_loss": 7.900660421000794e-06, + "chamfer": 6.245835720619652e-06, + "track": 1.6548242456337903e-06, + "acceleration": 2.602417907837662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.886601451900788e-06, + "observation_loss": 7.635620931978337e-06, + "chamfer": 6.066486548661487e-06, + "track": 1.5691342696300126e-06, + "acceleration": 2.5098037781390303e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.486076810891973e-06, + "observation_loss": 7.403746167256031e-06, + "chamfer": 5.895628419239074e-06, + "track": 1.5081179753906326e-06, + "acceleration": 8.233082127162561e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.260517577378778e-06, + "observation_loss": 7.206570444395766e-06, + "chamfer": 5.747869181504939e-06, + "track": 1.4587010355171515e-06, + "acceleration": 5.3946926925618754e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.2443772296537645e-06, + "observation_loss": 7.180963621067349e-06, + "chamfer": 5.724612037738552e-06, + "track": 1.4563515833287966e-06, + "acceleration": 6.341374358953544e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.303262009372702e-06, + "observation_loss": 7.220266070362413e-06, + "chamfer": 5.745318048866466e-06, + "track": 1.4749480214959476e-06, + "acceleration": 8.299586085058763e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.324419129872695e-06, + "observation_loss": 7.280683348653838e-06, + "chamfer": 5.7873144214681815e-06, + "track": 1.4933688134988188e-06, + "acceleration": 4.373590556383533e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.539471425843658e-06, + "observation_loss": 7.3380456342420075e-06, + "chamfer": 5.815335043735104e-06, + "track": 1.522710476820066e-06, + "acceleration": 2.0142600476447114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.867850399634335e-06, + "observation_loss": 7.398323759844061e-06, + "chamfer": 5.862560101377312e-06, + "track": 1.5357635447799112e-06, + "acceleration": 4.6952649768172705e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.476706170768011e-06, + "observation_loss": 7.518360689573456e-06, + "chamfer": 5.938053163845325e-06, + "track": 1.5803076394149684e-06, + "acceleration": 9.583455948813935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.03920408745762e-06, + "observation_loss": 7.660323717573192e-06, + "chamfer": 6.050608590157935e-06, + "track": 1.6097147863547434e-06, + "acceleration": 1.378880597258103e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.613746103947051e-06, + "observation_loss": 7.805330824339762e-06, + "chamfer": 6.16241186435218e-06, + "track": 1.642919187361258e-06, + "acceleration": 8.084150522336131e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.475885806547012e-06, + "observation_loss": 8.138738849083893e-06, + "chamfer": 6.405732165148947e-06, + "track": 1.7330066839349456e-06, + "acceleration": 3.3714684377628146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.8671367848292e-06, + "observation_loss": 8.607951713202056e-06, + "chamfer": 6.7279115683049895e-06, + "track": 1.8800404859575792e-06, + "acceleration": 2.5918524215740035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.273782779928297e-06, + "observation_loss": 9.161689376924187e-06, + "chamfer": 7.1043391471903306e-06, + "track": 2.057350002360181e-06, + "acceleration": 1.1209345984752872e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.543065061734524e-06, + "observation_loss": 9.457960914005525e-06, + "chamfer": 7.30347119315411e-06, + "track": 2.1544901755987667e-06, + "acceleration": 8.510415483442557e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.9314374892856e-06, + "observation_loss": 9.662617230787873e-06, + "chamfer": 7.441878551617265e-06, + "track": 2.220738906544284e-06, + "acceleration": 2.68819917437213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0025639312516432e-05, + "observation_loss": 9.86025497695664e-06, + "chamfer": 7.551511771453079e-06, + "track": 2.308743432877236e-06, + "acceleration": 1.6538409397526266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0072651093651075e-05, + "observation_loss": 9.959572707884945e-06, + "chamfer": 7.606107374158455e-06, + "track": 2.3534651063528145e-06, + "acceleration": 1.1307879788091668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0184407983615529e-05, + "observation_loss": 9.863761079031974e-06, + "chamfer": 7.543400442955317e-06, + "track": 2.320360636076657e-06, + "acceleration": 3.2064676247500756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0414762982691173e-05, + "observation_loss": 9.619907359592617e-06, + "chamfer": 7.396875389531488e-06, + "track": 2.2230321974348044e-06, + "acceleration": 7.948552820380428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.000937663775403e-05, + "observation_loss": 9.534656783216633e-06, + "chamfer": 7.331497727136593e-06, + "track": 2.203158828706364e-06, + "acceleration": 4.747197408505599e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.680675248091575e-06, + "observation_loss": 9.476892046222929e-06, + "chamfer": 7.291253496077843e-06, + "track": 2.1856383227714105e-06, + "acceleration": 2.0378284659727797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.650877473177388e-06, + "observation_loss": 9.324960956291761e-06, + "chamfer": 7.182198260125006e-06, + "track": 2.1427626961667556e-06, + "acceleration": 3.259169147895591e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.021618845697958e-05, + "observation_loss": 9.245979526895098e-06, + "chamfer": 7.110810656740796e-06, + "track": 2.135168642780627e-06, + "acceleration": 9.702091574581573e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.255223287444096e-05, + "observation_loss": 9.480194421485066e-06, + "chamfer": 7.265251497301506e-06, + "track": 2.214943151557236e-06, + "acceleration": 3.0720382255822187e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2397215868986677e-05, + "observation_loss": 9.740201676322613e-06, + "chamfer": 7.435890438500792e-06, + "track": 2.3043110104481457e-06, + "acceleration": 2.657013965290389e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0521923286432866e-05, + "observation_loss": 9.623889127396978e-06, + "chamfer": 7.3533301474526525e-06, + "track": 2.270558979944326e-06, + "acceleration": 8.980342727227253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0258700967824552e-05, + "observation_loss": 9.752038749866188e-06, + "chamfer": 7.434558483510045e-06, + "track": 2.317480721103493e-06, + "acceleration": 5.066624453320401e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0072299119201489e-05, + "observation_loss": 9.890174624160863e-06, + "chamfer": 7.51465904613724e-06, + "track": 2.375515123276273e-06, + "acceleration": 1.821243671429329e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0146132808586117e-05, + "observation_loss": 1.0076246326207183e-05, + "chamfer": 7.609920430695638e-06, + "track": 2.4663258955115452e-06, + "acceleration": 6.988676659602788e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0391577234258875e-05, + "observation_loss": 1.0273425687046256e-05, + "chamfer": 7.710370482527651e-06, + "track": 2.5630549771449296e-06, + "acceleration": 1.1815119904667881e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0615299288474489e-05, + "observation_loss": 1.0548404134169687e-05, + "chamfer": 7.887533683970105e-06, + "track": 2.660870677573257e-06, + "acceleration": 6.689511877766563e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0988066605932545e-05, + "observation_loss": 1.0888710676226765e-05, + "chamfer": 8.11542213341454e-06, + "track": 2.773288315438549e-06, + "acceleration": 9.935556732898476e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1235444617341273e-05, + "observation_loss": 1.113909820560366e-05, + "chamfer": 8.282726412289776e-06, + "track": 2.8563717933138832e-06, + "acceleration": 9.634682385240012e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1321047168166842e-05, + "observation_loss": 1.1232680662942585e-05, + "chamfer": 8.327901014126837e-06, + "track": 2.9047796488157474e-06, + "acceleration": 8.836606468776154e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1446023563621566e-05, + "observation_loss": 1.1311938578728586e-05, + "chamfer": 8.379435712413397e-06, + "track": 2.9325028663151897e-06, + "acceleration": 1.3408531174263771e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1544389053597115e-05, + "observation_loss": 1.1393209206289612e-05, + "chamfer": 8.418113793595694e-06, + "track": 2.9750951853202423e-06, + "acceleration": 1.5117969098810136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1471858670120127e-05, + "observation_loss": 1.1404335964471102e-05, + "chamfer": 8.413388059125282e-06, + "track": 2.9909483600931708e-06, + "acceleration": 6.752260617304273e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1615878065640572e-05, + "observation_loss": 1.1412123967602383e-05, + "chamfer": 8.420469384873286e-06, + "track": 2.991654355355422e-06, + "acceleration": 2.0375394171878725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1587125300138723e-05, + "observation_loss": 1.148399223893648e-05, + "chamfer": 8.456095201836433e-06, + "track": 3.0278968097263714e-06, + "acceleration": 1.0313340936818349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1651346540020313e-05, + "observation_loss": 1.1561531209736131e-05, + "chamfer": 8.489100764563773e-06, + "track": 3.072430217798683e-06, + "acceleration": 8.981552213072064e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.171813619293971e-05, + "observation_loss": 1.1623391401371919e-05, + "chamfer": 8.524343684257474e-06, + "track": 3.0990479444881203e-06, + "acceleration": 9.474476314608182e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.180058370664483e-05, + "observation_loss": 1.1714229003700893e-05, + "chamfer": 8.573764716857113e-06, + "track": 3.140464514217456e-06, + "acceleration": 8.635437609427754e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1778954103647266e-05, + "observation_loss": 1.1671486390696373e-05, + "chamfer": 8.551332939532585e-06, + "track": 3.1201534511637874e-06, + "acceleration": 1.0746783374315783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1596799595281482e-05, + "observation_loss": 1.1505778275022749e-05, + "chamfer": 8.447935215372127e-06, + "track": 3.0578432870242978e-06, + "acceleration": 9.102135578586967e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.271241005293936e-06, + "chamfer_mean": 5.692178514019967e-06, + "track_mean": 1.5643509273151797e-06, + "acceleration_mean": 1.0147115491188075e-06, + "observation_score": 7.2565294620593095e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.431203533000371 + }, + "score_arrays_file": "pass_scores/pass_end_0293.npz", + "score_arrays_sha256": "62c11d17c6dbc5a3df939834691f31a67cdf8e8de392d1d129198ed8cd4ebc84" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0294.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0294.json new file mode 100644 index 0000000000000000000000000000000000000000..bfa4b9959d1939307b33f7e1235f4f61749d21cb --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0294.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28224, + "completed_passes": 294, + "snapshot": "pass_end_0294", + "candidate": true, + "snapshot_arrays_sha256": "6925130bf37f5a30068143415114cf5c25f5a10903b78b247476fc7c95d9432c", + "score": 7.2529150851134245e-06, + "score_result": { + "score": 7.2529150851134245e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8741819733113516e-06, + 3.1599729481968097e-06, + 3.2983186883939197e-06, + 3.7310364859877154e-06, + 4.254397936165333e-06, + 4.463474851945648e-06, + 4.228029865771532e-06, + 4.096459633728955e-06, + 4.036080099467654e-06, + 4.1438165681029204e-06, + 4.522149993135827e-06, + 4.981230176781537e-06, + 5.28683540323982e-06, + 5.493772277986864e-06, + 5.487840553541901e-06, + 5.380448783398606e-06, + 5.028511623095255e-06, + 4.6427589950326364e-06, + 4.461186108528636e-06, + 4.437760253495071e-06, + 4.3985305637761485e-06, + 4.308398274588399e-06, + 4.264197741576936e-06, + 4.255326530255843e-06, + 4.25582265961566e-06, + 4.405873369250912e-06, + 4.793555945070693e-06, + 5.06446940562455e-06, + 5.082578354631551e-06, + 5.049173068982782e-06, + 5.132034857524559e-06, + 5.286271971272072e-06, + 5.497227448358899e-06, + 5.73382931179367e-06, + 5.820556907565333e-06, + 5.9414151110104285e-06, + 6.20193259237567e-06, + 6.29816986474907e-06, + 5.9917902035522275e-06, + 5.6307908380404115e-06, + 5.630380201182561e-06, + 5.9102217164763715e-06, + 6.095209300838178e-06, + 6.281127753027249e-06, + 6.360540737659903e-06, + 6.4086198108270764e-06, + 6.546171334775863e-06, + 7.011377419985365e-06, + 7.640687726961914e-06, + 8.04233604867477e-06, + 7.895173439464998e-06, + 7.630728759977501e-06, + 7.399798505502986e-06, + 7.203241239039926e-06, + 7.17813236406073e-06, + 7.2174498200183734e-06, + 7.278161774593173e-06, + 7.335956070164684e-06, + 7.396836736006662e-06, + 7.517671747336863e-06, + 7.660267328901682e-06, + 7.805667337379418e-06, + 8.139695637510158e-06, + 8.609671567683108e-06, + 9.164303264697082e-06, + 9.461268746235874e-06, + 9.666913683759049e-06, + 9.864670573733747e-06, + 9.964422133634798e-06, + 9.868434972304385e-06, + 9.623965524951927e-06, + 9.538063750369474e-06, + 9.479825166636147e-06, + 9.326749932370149e-06, + 9.248395144823007e-06, + 9.476819286646787e-06, + 9.735904313856736e-06, + 9.621285244065803e-06, + 9.748692718858365e-06, + 9.884383871394675e-06, + 1.0067830771731678e-05, + 1.0262602700095158e-05, + 1.0535855835769325e-05, + 1.0874968211282976e-05, + 1.1123039257654455e-05, + 1.121621608035639e-05, + 1.129488828155445e-05, + 1.1376891052350402e-05, + 1.1387328413547948e-05, + 1.1395198271202389e-05, + 1.1467152944533154e-05, + 1.1544377230165992e-05, + 1.1606085536186583e-05, + 1.1696592991938815e-05, + 1.1653509318421129e-05, + 1.148788032878656e-05 + ] + ], + "episode_mean_losses": [ + 7.2529150851134245e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8741819733113516e-06, + "observation_loss": 2.8741819733113516e-06, + "chamfer": 2.4382209176110337e-06, + "track": 4.3596094201348023e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.150125096202828e-05, + "observation_loss": 3.1599729481968097e-06, + "chamfer": 2.6726470423454884e-06, + "track": 4.873258490079024e-07, + "acceleration": 3.834127710433677e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.341793333471287e-05, + "observation_loss": 3.2983186883939197e-06, + "chamfer": 2.792237637549988e-06, + "track": 5.060809940005129e-07, + "acceleration": 2.0119614418945275e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0222880518995225e-05, + "observation_loss": 3.7310364859877154e-06, + "chamfer": 3.1462298011319945e-06, + "track": 5.848065711688832e-07, + "acceleration": 6.491844487754861e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.219233910087496e-06, + "observation_loss": 4.254397936165333e-06, + "chamfer": 3.5679979646374704e-06, + "track": 6.863998578410246e-07, + "acceleration": 1.9648362012958387e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.660279384755995e-06, + "observation_loss": 4.463474851945648e-06, + "chamfer": 3.734732899829396e-06, + "track": 7.287417815859953e-07, + "acceleration": 1.1968047601840226e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.932834599458147e-06, + "observation_loss": 4.228029865771532e-06, + "chamfer": 3.543173079378903e-06, + "track": 6.848566158623726e-07, + "acceleration": 7.048045631563582e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.614222689269809e-06, + "observation_loss": 4.096459633728955e-06, + "chamfer": 3.4384361242700834e-06, + "track": 6.58023338928615e-07, + "acceleration": 5.17763112384273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.494487711781403e-06, + "observation_loss": 4.036080099467654e-06, + "chamfer": 3.3923608953045914e-06, + "track": 6.437190336328058e-07, + "acceleration": 4.5840758389203984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.452680514077656e-06, + "observation_loss": 4.1438165681029204e-06, + "chamfer": 3.480855639281799e-06, + "track": 6.629607582908648e-07, + "acceleration": 3.088638891313167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.6498885239998344e-06, + "observation_loss": 4.522149993135827e-06, + "chamfer": 3.7884426546952454e-06, + "track": 7.337074521274189e-07, + "acceleration": 1.2773871560511907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.067643542133737e-06, + "observation_loss": 4.981230176781537e-06, + "chamfer": 4.1565854189684615e-06, + "track": 8.246448146564944e-07, + "acceleration": 8.641325877078998e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.372922259994084e-06, + "observation_loss": 5.28683540323982e-06, + "chamfer": 4.4076468839193694e-06, + "track": 8.791884624770319e-07, + "acceleration": 8.608692780853744e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.596494247583905e-06, + "observation_loss": 5.493772277986864e-06, + "chamfer": 4.58357726529357e-06, + "track": 9.101951263801311e-07, + "acceleration": 1.027221543381529e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.546152806346072e-06, + "observation_loss": 5.487840553541901e-06, + "chamfer": 4.582311248668702e-06, + "track": 9.055293617166171e-07, + "acceleration": 5.831232385844487e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.49971082364209e-06, + "observation_loss": 5.380448783398606e-06, + "chamfer": 4.49470690000453e-06, + "track": 8.857418833940756e-07, + "acceleration": 1.192619549783558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.232761850493262e-06, + "observation_loss": 5.028511623095255e-06, + "chamfer": 4.2064593799295835e-06, + "track": 8.220523568525095e-07, + "acceleration": 2.042503837174081e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.944993179378798e-06, + "observation_loss": 4.6427589950326364e-06, + "chamfer": 3.887718321493594e-06, + "track": 7.550406166956236e-07, + "acceleration": 3.022341843461618e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.641347914002836e-06, + "observation_loss": 4.461186108528636e-06, + "chamfer": 3.735766540557961e-06, + "track": 7.254193974404188e-07, + "acceleration": 1.8016201863702008e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.64978347736178e-06, + "observation_loss": 4.437760253495071e-06, + "chamfer": 3.712403895406169e-06, + "track": 7.253564149323211e-07, + "acceleration": 2.1202318123414443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.677309789258288e-06, + "observation_loss": 4.3985305637761485e-06, + "chamfer": 3.678357870740001e-06, + "track": 7.201726361927285e-07, + "acceleration": 2.7877914021701145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.58856356999604e-06, + "observation_loss": 4.308398274588399e-06, + "chamfer": 3.60449189429346e-06, + "track": 7.039063234515197e-07, + "acceleration": 2.8016546593789826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5359452087723184e-06, + "observation_loss": 4.264197741576936e-06, + "chamfer": 3.57348426405224e-06, + "track": 6.907135343681148e-07, + "acceleration": 2.717476377256389e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.5314550334296655e-06, + "observation_loss": 4.255326530255843e-06, + "chamfer": 3.5627710985863814e-06, + "track": 6.925555453562993e-07, + "acceleration": 2.761284463304037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.548552169580944e-06, + "observation_loss": 4.25582265961566e-06, + "chamfer": 3.547345841070637e-06, + "track": 7.084769322318607e-07, + "acceleration": 2.927296236521215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.688035460276296e-06, + "observation_loss": 4.405873369250912e-06, + "chamfer": 3.652320401670295e-06, + "track": 7.53553138110874e-07, + "acceleration": 2.821620626036747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.173159934201976e-06, + "observation_loss": 4.793555945070693e-06, + "chamfer": 3.944934178434778e-06, + "track": 8.48621880322753e-07, + "acceleration": 3.7960381860102643e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.328206498234067e-06, + "observation_loss": 5.06446940562455e-06, + "chamfer": 4.153236204729183e-06, + "track": 9.112329735216917e-07, + "acceleration": 2.637372915614833e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.499173312273342e-06, + "observation_loss": 5.082578354631551e-06, + "chamfer": 4.172857188677881e-06, + "track": 9.097213933273451e-07, + "acceleration": 4.16594986063501e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2755312935914844e-06, + "observation_loss": 5.049173068982782e-06, + "chamfer": 4.156181603320874e-06, + "track": 8.929916361921642e-07, + "acceleration": 2.263581393435743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.4359361456590705e-06, + "observation_loss": 5.132034857524559e-06, + "chamfer": 4.229654678056249e-06, + "track": 9.023800657814718e-07, + "acceleration": 3.0390148708647757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.714225153496955e-06, + "observation_loss": 5.286271971272072e-06, + "chamfer": 4.352499672677368e-06, + "track": 9.337723554381228e-07, + "acceleration": 4.2795298327291675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.8995915424020495e-06, + "observation_loss": 5.497227448358899e-06, + "chamfer": 4.519341928244103e-06, + "track": 9.778855201147962e-07, + "acceleration": 4.0236389509118453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.317141469480703e-06, + "observation_loss": 5.73382931179367e-06, + "chamfer": 4.692989023169503e-06, + "track": 1.0408405159978429e-06, + "acceleration": 5.833121576870326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.316335202427581e-06, + "observation_loss": 5.820556907565333e-06, + "chamfer": 4.7567664296366274e-06, + "track": 1.06379025055503e-06, + "acceleration": 4.957781811754103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.228726761037251e-06, + "observation_loss": 5.9414151110104285e-06, + "chamfer": 4.832666490983684e-06, + "track": 1.1087487337135826e-06, + "acceleration": 2.8731145107485645e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.377251793310279e-06, + "observation_loss": 6.20193259237567e-06, + "chamfer": 5.020449407311389e-06, + "track": 1.1814830713774427e-06, + "acceleration": 1.7531898777178867e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.5596482272667345e-06, + "observation_loss": 6.29816986474907e-06, + "chamfer": 5.103081548440969e-06, + "track": 1.195088543681777e-06, + "acceleration": 2.614782488308265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.165233116917079e-06, + "observation_loss": 5.9917902035522275e-06, + "chamfer": 4.881647328147665e-06, + "track": 1.1101426480308874e-06, + "acceleration": 1.7344281388886884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.750739546783734e-06, + "observation_loss": 5.6307908380404115e-06, + "chamfer": 4.601984073815402e-06, + "track": 1.0288067642250098e-06, + "acceleration": 1.1994853821306606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.884266101929825e-06, + "observation_loss": 5.630380201182561e-06, + "chamfer": 4.599041403707815e-06, + "track": 1.031338683787908e-06, + "acceleration": 2.5388584390384494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.141970516182482e-06, + "observation_loss": 5.9102217164763715e-06, + "chamfer": 4.802553121407982e-06, + "track": 1.1076687087552273e-06, + "acceleration": 2.317489702363673e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.213828328327509e-06, + "observation_loss": 6.095209300838178e-06, + "chamfer": 4.927235750074033e-06, + "track": 1.167973664450983e-06, + "acceleration": 1.1861880722108253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.316573944786796e-06, + "observation_loss": 6.281127753027249e-06, + "chamfer": 5.062863237981219e-06, + "track": 1.2182642876723548e-06, + "acceleration": 3.544633031538069e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.443700385716511e-06, + "observation_loss": 6.360540737659903e-06, + "chamfer": 5.119050456414698e-06, + "track": 1.2414903949320433e-06, + "acceleration": 8.31594633154964e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.559793291671667e-06, + "observation_loss": 6.4086198108270764e-06, + "chamfer": 5.154799509909935e-06, + "track": 1.2538200735434657e-06, + "acceleration": 1.5117342400117195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.746127382939449e-06, + "observation_loss": 6.546171334775863e-06, + "chamfer": 5.262757440505084e-06, + "track": 1.2834137805839418e-06, + "acceleration": 1.9995619027213252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.17287957741064e-06, + "observation_loss": 7.011377419985365e-06, + "chamfer": 5.609439085674239e-06, + "track": 1.4019385616848012e-06, + "acceleration": 1.6150220005783922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.781077329127584e-06, + "observation_loss": 7.640687726961914e-06, + "chamfer": 6.051217496860772e-06, + "track": 1.5894701164143044e-06, + "acceleration": 1.403897869067805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.329899173986632e-06, + "observation_loss": 8.04233604867477e-06, + "chamfer": 6.338289495033678e-06, + "track": 1.7040466673279298e-06, + "acceleration": 2.8756284109476837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.15668681752868e-06, + "observation_loss": 7.895173439464998e-06, + "chamfer": 6.241896699066274e-06, + "track": 1.653276626711886e-06, + "acceleration": 2.615133212202636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.881955752964132e-06, + "observation_loss": 7.630728759977501e-06, + "chamfer": 6.06287130722194e-06, + "track": 1.5678573390687234e-06, + "acceleration": 2.5122653823927976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.482492037524935e-06, + "observation_loss": 7.399798505502986e-06, + "chamfer": 5.892580702493433e-06, + "track": 1.5072178030095529e-06, + "acceleration": 8.269331175370098e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.257190645759692e-06, + "observation_loss": 7.203241239039926e-06, + "chamfer": 5.745283942815149e-06, + "track": 1.4579574099116144e-06, + "acceleration": 5.394930724378355e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.2414336500514764e-06, + "observation_loss": 7.17813236406073e-06, + "chamfer": 5.7224083320761565e-06, + "track": 1.4557238046108978e-06, + "acceleration": 6.33012504636099e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.300393917830661e-06, + "observation_loss": 7.2174498200183734e-06, + "chamfer": 5.743090696341824e-06, + "track": 1.4743591236765496e-06, + "acceleration": 8.294396991459507e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.321788416447816e-06, + "observation_loss": 7.278161774593173e-06, + "chamfer": 5.7853239923133515e-06, + "track": 1.4928378959666588e-06, + "acceleration": 4.362670580349004e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.538335012213793e-06, + "observation_loss": 7.335956070164684e-06, + "chamfer": 5.81370204599807e-06, + "track": 1.5222541378534515e-06, + "acceleration": 2.0237895625996316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.869412911531981e-06, + "observation_loss": 7.396836736006662e-06, + "chamfer": 5.861368208570639e-06, + "track": 1.5354685274360236e-06, + "acceleration": 4.725763460555754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.480498763674404e-06, + "observation_loss": 7.517671747336863e-06, + "chamfer": 5.93755294175935e-06, + "track": 1.5801189192643506e-06, + "acceleration": 9.628272437112173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.043767931871116e-06, + "observation_loss": 7.660267328901682e-06, + "chamfer": 6.050547199265566e-06, + "track": 1.6097199022624409e-06, + "acceleration": 1.383500261908921e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.615917067800183e-06, + "observation_loss": 7.805667337379418e-06, + "chamfer": 6.162619683891535e-06, + "track": 1.6430475398010458e-06, + "acceleration": 8.102500714812777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.4776238509221e-06, + "observation_loss": 8.139695637510158e-06, + "chamfer": 6.406375177903101e-06, + "track": 1.7333204596070573e-06, + "acceleration": 3.3792812814681383e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.869649718690198e-06, + "observation_loss": 8.609671567683108e-06, + "chamfer": 6.7291093728272244e-06, + "track": 1.8805626496032346e-06, + "acceleration": 2.599783499590558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.27660039451439e-06, + "observation_loss": 9.164303264697082e-06, + "chamfer": 7.106179964466719e-06, + "track": 2.058123527604039e-06, + "acceleration": 1.1229673901880233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.546497494739015e-06, + "observation_loss": 9.461268746235874e-06, + "chamfer": 7.30584633856779e-06, + "track": 2.155422407668084e-06, + "acceleration": 8.52291677233552e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.936096830642782e-06, + "observation_loss": 9.666913683759049e-06, + "chamfer": 7.445063147315523e-06, + "track": 2.221850081696175e-06, + "acceleration": 2.691830047751864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0030913472292013e-05, + "observation_loss": 9.864670573733747e-06, + "chamfer": 7.554752301075496e-06, + "track": 2.3099180452845758e-06, + "acceleration": 1.6624329646219849e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0077905244543217e-05, + "observation_loss": 9.964422133634798e-06, + "chamfer": 7.60973171054502e-06, + "track": 2.3546901957161026e-06, + "acceleration": 1.1348316775183775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0190136890741996e-05, + "observation_loss": 9.868434972304385e-06, + "chamfer": 7.546908818767406e-06, + "track": 2.3215263809106546e-06, + "acceleration": 3.2170194685932074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0419877980893943e-05, + "observation_loss": 9.623965524951927e-06, + "chamfer": 7.399833066301653e-06, + "track": 2.2241322312765988e-06, + "acceleration": 7.959128538459481e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0014011422754265e-05, + "observation_loss": 9.538063750369474e-06, + "chamfer": 7.333999747061171e-06, + "track": 2.204064230681979e-06, + "acceleration": 4.759472460591496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.684327778813895e-06, + "observation_loss": 9.479825166636147e-06, + "chamfer": 7.293428552657133e-06, + "track": 2.186396841352689e-06, + "acceleration": 2.0450247006920108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.64125501923263e-06, + "observation_loss": 9.326749932370149e-06, + "chamfer": 7.183364687080029e-06, + "track": 2.14338570003747e-06, + "acceleration": 3.14504944753935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0166836545977276e-05, + "observation_loss": 9.248395144823007e-06, + "chamfer": 7.113023457350209e-06, + "track": 2.1353714600991225e-06, + "acceleration": 9.184412874674308e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.26070917758625e-05, + "observation_loss": 9.476819286646787e-06, + "chamfer": 7.262523922690889e-06, + "track": 2.2142951365822228e-06, + "acceleration": 3.130272943963064e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2432768926373683e-05, + "observation_loss": 9.735904313856736e-06, + "chamfer": 7.432592610712163e-06, + "track": 2.3033121578919236e-06, + "acceleration": 2.696865067264298e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0521138392505236e-05, + "observation_loss": 9.621285244065803e-06, + "chamfer": 7.351467047556071e-06, + "track": 2.2698184238834074e-06, + "acceleration": 8.998534894999466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0278835361532401e-05, + "observation_loss": 9.748692718858365e-06, + "chamfer": 7.432039637933485e-06, + "track": 2.3166530809248798e-06, + "acceleration": 5.301428132042929e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0072306395159103e-05, + "observation_loss": 9.884383871394675e-06, + "chamfer": 7.5107950578967575e-06, + "track": 2.3735885861242423e-06, + "acceleration": 1.8792279377066734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0135810953215696e-05, + "observation_loss": 1.0067830771731678e-05, + "chamfer": 7.604562142660143e-06, + "track": 2.4632686290715355e-06, + "acceleration": 6.798050833367597e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0379321793152485e-05, + "observation_loss": 1.0262602700095158e-05, + "chamfer": 7.703622941335198e-06, + "track": 2.558979986133636e-06, + "acceleration": 1.1671894384335246e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.060434715327574e-05, + "observation_loss": 1.0535855835769325e-05, + "chamfer": 7.87983117334079e-06, + "track": 2.656024889802211e-06, + "acceleration": 6.84913530335507e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0975934856105596e-05, + "observation_loss": 1.0874968211282976e-05, + "chamfer": 8.1071939348476e-06, + "track": 2.7677740490616998e-06, + "acceleration": 1.0096619007526897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1218115105293691e-05, + "observation_loss": 1.1123039257654455e-05, + "chamfer": 8.273169441963546e-06, + "track": 2.849870043064584e-06, + "acceleration": 9.507572684697152e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1303874089207966e-05, + "observation_loss": 1.121621608035639e-05, + "chamfer": 8.318077561852988e-06, + "track": 2.8981380637560505e-06, + "acceleration": 8.765778858332851e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1427852768974844e-05, + "observation_loss": 1.129488828155445e-05, + "chamfer": 8.369303031940944e-06, + "track": 2.9255850222398294e-06, + "acceleration": 1.3296454426381388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1527143215062097e-05, + "observation_loss": 1.1376891052350402e-05, + "chamfer": 8.408615030930378e-06, + "track": 2.9682760214200243e-06, + "acceleration": 1.5025234745280613e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.145417718362296e-05, + "observation_loss": 1.1387328413547948e-05, + "chamfer": 8.403289939451497e-06, + "track": 2.9840382467227755e-06, + "acceleration": 6.684892639441387e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1598662240430713e-05, + "observation_loss": 1.1395198271202389e-05, + "chamfer": 8.41038581711473e-06, + "track": 2.984812681461335e-06, + "acceleration": 2.0346398343917826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1570575225050561e-05, + "observation_loss": 1.1467152944533154e-05, + "chamfer": 8.446211722912267e-06, + "track": 3.0209412216208875e-06, + "acceleration": 1.0342257894535578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1634394468273968e-05, + "observation_loss": 1.1544377230165992e-05, + "chamfer": 8.478949894197285e-06, + "track": 3.065427563342382e-06, + "acceleration": 9.001709599942842e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1700770301104058e-05, + "observation_loss": 1.1606085536186583e-05, + "chamfer": 8.51432287163334e-06, + "track": 3.0917626645532437e-06, + "acceleration": 9.468480755003839e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1782628462242428e-05, + "observation_loss": 1.1696592991938815e-05, + "chamfer": 8.563594747101888e-06, + "track": 3.1329986995842773e-06, + "acceleration": 8.603548451446841e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1760943380068056e-05, + "observation_loss": 1.1653509318421129e-05, + "chamfer": 8.540898306819145e-06, + "track": 3.11261123897566e-06, + "acceleration": 1.0743433165316674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1578840712900274e-05, + "observation_loss": 1.148788032878656e-05, + "chamfer": 8.437345059064683e-06, + "track": 3.050535269721877e-06, + "acceleration": 9.096008568576508e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.269580206388127e-06, + "chamfer_mean": 5.6898174231416005e-06, + "track_mean": 1.5630976661166567e-06, + "acceleration_mean": 1.0166651263447217e-06, + "observation_score": 7.2529150851134245e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.3488650299987057 + }, + "score_arrays_file": "pass_scores/pass_end_0294.npz", + "score_arrays_sha256": "d8e9a45c59b2da70256fd224185f1c61edba7886fad6a8b4a0e2378f6af504d1" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0295.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0295.json new file mode 100644 index 0000000000000000000000000000000000000000..78d40cafa1bbc523ec6a4363b5151edf80e62091 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0295.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28320, + "completed_passes": 295, + "snapshot": "pass_end_0295", + "candidate": true, + "snapshot_arrays_sha256": "4fa23bb38a25e5a37e2bb76c85402fcaac865a55ac07d3ff8be2126fe7deeea3", + "score": 7.249423234156893e-06, + "score_result": { + "score": 7.249423234156893e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.874055553547805e-06, + 3.1597655834048055e-06, + 3.296526983831427e-06, + 3.7291558783181245e-06, + 4.252021881256951e-06, + 4.461270691535901e-06, + 4.2253404899383895e-06, + 4.093031293450622e-06, + 4.033264303870965e-06, + 4.141014414926758e-06, + 4.519507456279825e-06, + 4.978880497219507e-06, + 5.2850073188892566e-06, + 5.492184300237568e-06, + 5.486637746798806e-06, + 5.379071353672771e-06, + 5.026500730309635e-06, + 4.640333372663008e-06, + 4.4587382035388146e-06, + 4.435366463440005e-06, + 4.396076292323414e-06, + 4.3051904867752455e-06, + 4.260348305251682e-06, + 4.2517076508374885e-06, + 4.253498445905279e-06, + 4.404916580824647e-06, + 4.793796051671961e-06, + 5.065047844254877e-06, + 5.082132247480331e-06, + 5.047809736424824e-06, + 5.131353645992931e-06, + 5.286715349939186e-06, + 5.500434781424701e-06, + 5.7365714383195154e-06, + 5.82229949941393e-06, + 5.9436379160615616e-06, + 6.203706561791478e-06, + 6.3004117691889405e-06, + 5.991428224660922e-06, + 5.628318831440993e-06, + 5.627708560496103e-06, + 5.907116246817168e-06, + 6.0917227528989315e-06, + 6.277668944676407e-06, + 6.35685591987567e-06, + 6.405381554941414e-06, + 6.543120889546117e-06, + 7.008243301243056e-06, + 7.637025191797875e-06, + 8.038285159273073e-06, + 7.891359928180464e-06, + 7.627731065440457e-06, + 7.397427907562815e-06, + 7.201194421213586e-06, + 7.176573490141891e-06, + 7.215753612399567e-06, + 7.2763355092320126e-06, + 7.33432761990116e-06, + 7.395362445095088e-06, + 7.516344339819625e-06, + 7.659196853637695e-06, + 7.8046832641121e-06, + 8.139016244967934e-06, + 8.609489668742754e-06, + 9.164507901004981e-06, + 9.462260095460806e-06, + 9.668344318924937e-06, + 9.866639629763085e-06, + 9.966917787096463e-06, + 9.871121619653422e-06, + 9.626304745324887e-06, + 9.539890925225336e-06, + 9.480989319854416e-06, + 9.326908184448257e-06, + 9.249810318578966e-06, + 9.47301941778278e-06, + 9.731815225677565e-06, + 9.618913281883579e-06, + 9.74504837358836e-06, + 9.878442142507993e-06, + 1.0059296073450241e-05, + 1.0251354979118332e-05, + 1.0522871889406815e-05, + 1.0861488590308e-05, + 1.1108340913779102e-05, + 1.120111392083345e-05, + 1.1279454156465363e-05, + 1.1362697478034534e-05, + 1.1372337212378625e-05, + 1.1380097021174151e-05, + 1.1452100807218812e-05, + 1.1529392395459581e-05, + 1.1590824215090834e-05, + 1.1681131582008675e-05, + 1.1637826901278459e-05, + 1.147236798715312e-05 + ] + ], + "episode_mean_losses": [ + 7.249423234156893e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.874055553547805e-06, + "observation_loss": 2.874055553547805e-06, + "chamfer": 2.4381074581469875e-06, + "track": 4.359480101356894e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1494440665701404e-05, + "observation_loss": 3.1597655834048055e-06, + "chamfer": 2.6724653707788093e-06, + "track": 4.873003263128339e-07, + "acceleration": 3.83346741728019e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3402233637170866e-05, + "observation_loss": 3.296526983831427e-06, + "chamfer": 2.7907460662390804e-06, + "track": 5.057809175923467e-07, + "acceleration": 2.0105706425965764e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0217688213742804e-05, + "observation_loss": 3.7291558783181245e-06, + "chamfer": 3.144676838928717e-06, + "track": 5.844790962328261e-07, + "acceleration": 6.488532108051004e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.201246833370533e-06, + "observation_loss": 4.252021881256951e-06, + "chamfer": 3.566062787285773e-06, + "track": 6.859589802843402e-07, + "acceleration": 1.9492251794872573e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.653631887980737e-06, + "observation_loss": 4.461270691535901e-06, + "chamfer": 3.7329371025407454e-06, + "track": 7.283336458385747e-07, + "acceleration": 1.1923611964448355e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.927353074890561e-06, + "observation_loss": 4.2253404899383895e-06, + "chamfer": 3.5409589145274367e-06, + "track": 6.843816890977905e-07, + "acceleration": 7.020128123258473e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.612051725416677e-06, + "observation_loss": 4.093031293450622e-06, + "chamfer": 3.4356014566583326e-06, + "track": 6.574298936357081e-07, + "acceleration": 5.19020488809474e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.492404968914343e-06, + "observation_loss": 4.033264303870965e-06, + "chamfer": 3.390034862604807e-06, + "track": 6.432292138924822e-07, + "acceleration": 4.5914046609141224e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.4497664930531755e-06, + "observation_loss": 4.141014414926758e-06, + "chamfer": 3.4785232401191024e-06, + "track": 6.624912316510745e-07, + "acceleration": 3.0875213496983633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.647583864425542e-06, + "observation_loss": 4.519507456279825e-06, + "chamfer": 3.7862487261008937e-06, + "track": 7.332587870223506e-07, + "acceleration": 1.2807633709144284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.065373898105463e-06, + "observation_loss": 4.978880497219507e-06, + "chamfer": 4.154647285758983e-06, + "track": 8.24233325147361e-07, + "acceleration": 8.649341509681108e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3714143177785445e-06, + "observation_loss": 5.2850073188892566e-06, + "chamfer": 4.406143034429988e-06, + "track": 8.788643981461064e-07, + "acceleration": 8.64068709915955e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.59506042918656e-06, + "observation_loss": 5.492184300237568e-06, + "chamfer": 4.582281690090895e-06, + "track": 9.0990278067693e-07, + "acceleration": 1.0287600105129968e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.544976374949329e-06, + "observation_loss": 5.486637746798806e-06, + "chamfer": 4.581346729537472e-06, + "track": 9.052910172613338e-07, + "acceleration": 5.833866012494582e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.498197879205691e-06, + "observation_loss": 5.379071353672771e-06, + "chamfer": 4.493595042731613e-06, + "track": 8.854761404109013e-07, + "acceleration": 1.1912634789723597e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.230517672316637e-06, + "observation_loss": 5.026500730309635e-06, + "chamfer": 4.2048213799716905e-06, + "track": 8.216795208682015e-07, + "acceleration": 2.0401671463332605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.9421846597397234e-06, + "observation_loss": 4.640333372663008e-06, + "chamfer": 3.885740170517238e-06, + "track": 7.545932589891891e-07, + "acceleration": 3.018513154984248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.637769961846061e-06, + "observation_loss": 4.4587382035388146e-06, + "chamfer": 3.7337467801989987e-06, + "track": 7.249914233398158e-07, + "acceleration": 1.7903154514442576e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.6460709199891426e-06, + "observation_loss": 4.435366463440005e-06, + "chamfer": 3.7104266539245145e-06, + "track": 7.249397526720713e-07, + "acceleration": 2.1070465550110384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.674876436183695e-06, + "observation_loss": 4.396076292323414e-06, + "chamfer": 3.6763326534128282e-06, + "track": 7.197438662842615e-07, + "acceleration": 2.7880025754711824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.584937414620072e-06, + "observation_loss": 4.3051904867752455e-06, + "chamfer": 3.601867319957819e-06, + "track": 7.03323053130589e-07, + "acceleration": 2.797468141579884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.535118478088407e-06, + "observation_loss": 4.260348305251682e-06, + "chamfer": 3.5703453704627464e-06, + "track": 6.900031053191924e-07, + "acceleration": 2.747703717886907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.531577360467054e-06, + "observation_loss": 4.2517076508374885e-06, + "chamfer": 3.559780680006952e-06, + "track": 6.919269139871176e-07, + "acceleration": 2.798696527861466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.547455318970606e-06, + "observation_loss": 4.253498445905279e-06, + "chamfer": 3.545379513525404e-06, + "track": 7.081187050061999e-07, + "acceleration": 2.9395675937848864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.686003194365185e-06, + "observation_loss": 4.404916580824647e-06, + "chamfer": 3.6515041301754536e-06, + "track": 7.534123369623558e-07, + "acceleration": 2.8108678407079424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.172680175746791e-06, + "observation_loss": 4.793796051671961e-06, + "chamfer": 3.9450924305128865e-06, + "track": 8.487034506288182e-07, + "acceleration": 3.7888423776166746e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.330320163920987e-06, + "observation_loss": 5.065047844254877e-06, + "chamfer": 4.1536131902830675e-06, + "track": 9.114348245020665e-07, + "acceleration": 2.6527220597927226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.4965044000709895e-06, + "observation_loss": 5.082132247480331e-06, + "chamfer": 4.172389253653819e-06, + "track": 9.0974310751335e-07, + "acceleration": 4.143722094340774e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.272704584058374e-06, + "observation_loss": 5.047809736424824e-06, + "chamfer": 4.155092938162852e-06, + "track": 8.927167414185533e-07, + "acceleration": 2.2489483342269523e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.434234935819404e-06, + "observation_loss": 5.131353645992931e-06, + "chamfer": 4.22911125497194e-06, + "track": 9.022425047078286e-07, + "acceleration": 3.028813466698921e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.729082658945117e-06, + "observation_loss": 5.286715349939186e-06, + "chamfer": 4.352923497208394e-06, + "track": 9.337916822005354e-07, + "acceleration": 4.423670816322556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.928106020292034e-06, + "observation_loss": 5.500434781424701e-06, + "chamfer": 4.52200310974149e-06, + "track": 9.784315579963732e-07, + "acceleration": 4.2767103991536715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.3418269746762235e-06, + "observation_loss": 5.7365714383195154e-06, + "chamfer": 4.695277766586514e-06, + "track": 1.041293785419839e-06, + "acceleration": 6.05255536356708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.348236638586968e-06, + "observation_loss": 5.82229949941393e-06, + "chamfer": 4.7583444029442035e-06, + "track": 1.0639550964697264e-06, + "acceleration": 5.259371960164572e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.268659944907995e-06, + "observation_loss": 5.9436379160615616e-06, + "chamfer": 4.834486844629282e-06, + "track": 1.1091512988059549e-06, + "acceleration": 3.250222277983994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.3771940403967164e-06, + "observation_loss": 6.203706561791478e-06, + "chamfer": 5.021773631597171e-06, + "track": 1.1819328165074694e-06, + "acceleration": 1.734876349246406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.5701342464308254e-06, + "observation_loss": 6.3004117691889405e-06, + "chamfer": 5.1046959015366156e-06, + "track": 1.195715867652325e-06, + "acceleration": 2.6972259092872264e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.162606496218359e-06, + "observation_loss": 5.991428224660922e-06, + "chamfer": 4.8812275963427965e-06, + "track": 1.110200742004963e-06, + "acceleration": 1.7117842787683912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.745857379224617e-06, + "observation_loss": 5.628318831440993e-06, + "chamfer": 4.599916792358272e-06, + "track": 1.0284020390827209e-06, + "acceleration": 1.1753877515729982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.881689958187053e-06, + "observation_loss": 5.627708560496103e-06, + "chamfer": 4.596862254402367e-06, + "track": 1.0308463060937356e-06, + "acceleration": 2.539815113777877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.139685410744278e-06, + "observation_loss": 5.907116246817168e-06, + "chamfer": 4.800072019861545e-06, + "track": 1.1070443406424602e-06, + "acceleration": 2.3256937708993064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.210969786479836e-06, + "observation_loss": 6.0917227528989315e-06, + "chamfer": 4.924438144371379e-06, + "track": 1.1672844948407146e-06, + "acceleration": 1.1924696252663125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.31254351901589e-06, + "observation_loss": 6.277668944676407e-06, + "chamfer": 5.060098374087829e-06, + "track": 1.2175705705885775e-06, + "acceleration": 3.4874535259632466e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.44008832750842e-06, + "observation_loss": 6.35685591987567e-06, + "chamfer": 5.116107786307111e-06, + "track": 1.2407480198817211e-06, + "acceleration": 8.323225131334766e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.556102107424522e-06, + "observation_loss": 6.405381554941414e-06, + "chamfer": 5.152224730409216e-06, + "track": 1.2531569382190355e-06, + "acceleration": 1.5072066616994562e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.741484867234249e-06, + "observation_loss": 6.543120889546117e-06, + "chamfer": 5.260364105197368e-06, + "track": 1.2827567843487486e-06, + "acceleration": 1.9836416242924315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.16917566023767e-06, + "observation_loss": 7.008243301243056e-06, + "chamfer": 5.607067578239366e-06, + "track": 1.401175836690527e-06, + "acceleration": 1.609324158380332e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.7777003752999e-06, + "observation_loss": 7.637025191797875e-06, + "chamfer": 6.048509021638893e-06, + "track": 1.5885158290984691e-06, + "acceleration": 1.4067558140595793e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.3256245488883e-06, + "observation_loss": 8.038285159273073e-06, + "chamfer": 6.335424131975742e-06, + "track": 1.7028606862368179e-06, + "acceleration": 2.8733978751915856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.153191629389767e-06, + "observation_loss": 7.891359928180464e-06, + "chamfer": 6.239248705242062e-06, + "track": 1.6521109955647262e-06, + "acceleration": 2.61831900161269e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.879204531491268e-06, + "observation_loss": 7.627731065440457e-06, + "chamfer": 6.060748546588002e-06, + "track": 1.56698229147878e-06, + "acceleration": 2.514734376291017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.479982741642743e-06, + "observation_loss": 7.397427907562815e-06, + "chamfer": 5.890821739740204e-06, + "track": 1.5066062815094483e-06, + "acceleration": 8.255491223962963e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.255175205500564e-06, + "observation_loss": 7.201194421213586e-06, + "chamfer": 5.743734618590679e-06, + "track": 1.4574596889360691e-06, + "acceleration": 5.398066704742632e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.239724254759494e-06, + "observation_loss": 7.176573490141891e-06, + "chamfer": 5.721239176637027e-06, + "track": 1.4553343135048635e-06, + "acceleration": 6.31505585602099e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.298473519767867e-06, + "observation_loss": 7.215753612399567e-06, + "chamfer": 5.7417978496232536e-06, + "track": 1.473955876463151e-06, + "acceleration": 8.271975815432597e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.320355052797822e-06, + "observation_loss": 7.2763355092320126e-06, + "chamfer": 5.783908818557393e-06, + "track": 1.4924266906746197e-06, + "acceleration": 4.401933395570268e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.536924385931343e-06, + "observation_loss": 7.33432761990116e-06, + "chamfer": 5.812462404719554e-06, + "track": 1.5218652151816059e-06, + "acceleration": 2.0259673760847363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.868527063692454e-06, + "observation_loss": 7.395362445095088e-06, + "chamfer": 5.860216788278194e-06, + "track": 1.5351454294432187e-06, + "acceleration": 4.731642206934339e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.481080840283539e-06, + "observation_loss": 7.516344339819625e-06, + "chamfer": 5.936545221629785e-06, + "track": 1.5797991181898396e-06, + "acceleration": 9.647368415244273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.046018021763302e-06, + "observation_loss": 7.659196853637695e-06, + "chamfer": 6.0497227423184086e-06, + "track": 1.6094741113192867e-06, + "acceleration": 1.386821622872958e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.617460480309092e-06, + "observation_loss": 7.8046832641121e-06, + "chamfer": 6.16183751844801e-06, + "track": 1.6428456319772522e-06, + "acceleration": 8.127768751364783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.478897143504582e-06, + "observation_loss": 8.139016244967934e-06, + "chamfer": 6.405797194020124e-06, + "track": 1.733219278321485e-06, + "acceleration": 3.3988055747613544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.871560567058623e-06, + "observation_loss": 8.609489668742754e-06, + "chamfer": 6.728923835908063e-06, + "track": 1.880566173895204e-06, + "acceleration": 2.620710404244164e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.27772907743929e-06, + "observation_loss": 9.164507901004981e-06, + "chamfer": 7.1062977440305986e-06, + "track": 2.0582099296007073e-06, + "acceleration": 1.1322141091341109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.547942681820132e-06, + "observation_loss": 9.462260095460806e-06, + "chamfer": 7.306570751097752e-06, + "track": 2.155689116989379e-06, + "acceleration": 8.568248688334279e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.93734738585772e-06, + "observation_loss": 9.668344318924937e-06, + "chamfer": 7.4462059274083e-06, + "track": 2.222138391516637e-06, + "acceleration": 2.690031237762014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0032657883130014e-05, + "observation_loss": 9.866639629763085e-06, + "chamfer": 7.55625751480693e-06, + "track": 2.3103821149561554e-06, + "acceleration": 1.6601863706000586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0080232641485054e-05, + "observation_loss": 9.966917787096463e-06, + "chamfer": 7.611677574459463e-06, + "track": 2.3552406673843507e-06, + "acceleration": 1.1331474780718054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0191618457611185e-05, + "observation_loss": 9.871121619653422e-06, + "chamfer": 7.549002475570887e-06, + "track": 2.3221193714562105e-06, + "acceleration": 3.2049672427092446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0421016668260563e-05, + "observation_loss": 9.626304745324887e-06, + "chamfer": 7.4016020334966015e-06, + "track": 2.2247031665756367e-06, + "acceleration": 7.947119229356758e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0016211490437854e-05, + "observation_loss": 9.539890925225336e-06, + "chamfer": 7.335385816986673e-06, + "track": 2.2045051082386635e-06, + "acceleration": 4.763204231039708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.686301382316742e-06, + "observation_loss": 9.480989319854416e-06, + "chamfer": 7.294361239473801e-06, + "track": 2.186627625633264e-06, + "acceleration": 2.053122045708733e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.63360616879072e-06, + "observation_loss": 9.326908184448257e-06, + "chamfer": 7.18343153494061e-06, + "track": 2.1434761947602965e-06, + "acceleration": 3.0669818329442933e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0127746463695075e-05, + "observation_loss": 9.249810318578966e-06, + "chamfer": 7.114422714948887e-06, + "track": 2.135387603630079e-06, + "acceleration": 8.779361451161094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2656664694077335e-05, + "observation_loss": 9.47301941778278e-06, + "chamfer": 7.259519406943582e-06, + "track": 2.2134997834655223e-06, + "acceleration": 3.18364504892088e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2463928214856423e-05, + "observation_loss": 9.731815225677565e-06, + "chamfer": 7.429453489748994e-06, + "track": 2.3023615085548954e-06, + "acceleration": 2.7321127618051833e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0519338502490427e-05, + "observation_loss": 9.618913281883579e-06, + "chamfer": 7.349782663368387e-06, + "track": 2.269130391141516e-06, + "acceleration": 9.004253342936863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0301243491994683e-05, + "observation_loss": 9.74504837358836e-06, + "chamfer": 7.4293707257311326e-06, + "track": 2.315678102604579e-06, + "acceleration": 5.561951752497407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0075550562760327e-05, + "observation_loss": 9.878442142507993e-06, + "chamfer": 7.5068496698804665e-06, + "track": 2.371592927374877e-06, + "acceleration": 1.9710837761977018e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0127282621397171e-05, + "observation_loss": 1.0059296073450241e-05, + "chamfer": 7.5992807069269475e-06, + "track": 2.4600151391496183e-06, + "acceleration": 6.798631346782713e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0367942195443902e-05, + "observation_loss": 1.0251354979118332e-05, + "chamfer": 7.696622560615651e-06, + "track": 2.5547326458763564e-06, + "acceleration": 1.1658748633180949e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.059377973433584e-05, + "observation_loss": 1.0522871889406815e-05, + "chamfer": 7.871965863159858e-06, + "track": 2.6509060262469575e-06, + "acceleration": 7.090742570881048e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0964572538796347e-05, + "observation_loss": 1.0861488590308e-05, + "chamfer": 8.099220394797157e-06, + "track": 2.7622679681371665e-06, + "acceleration": 1.030843392868519e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1203061148989946e-05, + "observation_loss": 1.1108340913779102e-05, + "chamfer": 8.264578355010599e-06, + "track": 2.8437621040211525e-06, + "acceleration": 9.472029205426225e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1288080713711679e-05, + "observation_loss": 1.120111392083345e-05, + "chamfer": 8.309182703669649e-06, + "track": 2.8919314445374766e-06, + "acceleration": 8.696638786886979e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1412313142500352e-05, + "observation_loss": 1.1279454156465363e-05, + "chamfer": 8.360278116015252e-06, + "track": 2.9191762678237865e-06, + "acceleration": 1.328588297155875e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1512265700730495e-05, + "observation_loss": 1.1362697478034534e-05, + "chamfer": 8.400499609706458e-06, + "track": 2.9621976409544004e-06, + "acceleration": 1.4956837901536346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1438895853643771e-05, + "observation_loss": 1.1372337212378625e-05, + "chamfer": 8.394563337787986e-06, + "track": 2.977773874590639e-06, + "acceleration": 6.655881890083037e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.158355826191837e-05, + "observation_loss": 1.1380097021174151e-05, + "chamfer": 8.40157827042276e-06, + "track": 2.9785189781250665e-06, + "acceleration": 2.0346116968994465e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1555602213775273e-05, + "observation_loss": 1.1452100807218812e-05, + "chamfer": 8.437476026301738e-06, + "track": 3.0146247809170745e-06, + "acceleration": 1.035013568184695e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1619940778473392e-05, + "observation_loss": 1.1529392395459581e-05, + "chamfer": 8.470306966046337e-06, + "track": 3.059085429413244e-06, + "acceleration": 9.054867433633262e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.168559174402617e-05, + "observation_loss": 1.1590824215090834e-05, + "chamfer": 8.505611731379759e-06, + "track": 3.0852122563373996e-06, + "acceleration": 9.476730866708749e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.176714704342885e-05, + "observation_loss": 1.1681131582008675e-05, + "chamfer": 8.554877240385395e-06, + "track": 3.12625434162328e-06, + "acceleration": 8.601534062790961e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1745749361580238e-05, + "observation_loss": 1.1637826901278459e-05, + "chamfer": 8.531967068847734e-06, + "track": 3.1058596050570486e-06, + "acceleration": 1.079222116118217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1563781299628317e-05, + "observation_loss": 1.147236798715312e-05, + "chamfer": 8.428371074842289e-06, + "track": 3.043996684937156e-06, + "acceleration": 9.14137672225479e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.267942500121231e-06, + "chamfer_mean": 5.687552234216279e-06, + "track_mean": 1.5618709895785325e-06, + "acceleration_mean": 1.0185192641139669e-06, + "observation_score": 7.249423234156893e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4305557070001669 + }, + "score_arrays_file": "pass_scores/pass_end_0295.npz", + "score_arrays_sha256": "c3aa9542a4fbcc5305df5558d4d036706babcef0379381896f082f26aea6be09" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0296.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0296.json new file mode 100644 index 0000000000000000000000000000000000000000..fb8119173650a39d7fad3d64d6084125ade96aa6 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0296.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28416, + "completed_passes": 296, + "snapshot": "pass_end_0296", + "candidate": true, + "snapshot_arrays_sha256": "3b9d3ed9e18928503b6b43c74ae826820f766f7b64e606b718cfe1f07c4e7ecd", + "score": 7.24512485798338e-06, + "score_result": { + "score": 7.24512485798338e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8739209483319428e-06, + 3.1596005101164337e-06, + 3.2948842090263497e-06, + 3.72755039279582e-06, + 4.25011285187793e-06, + 4.459604497242253e-06, + 4.223049927531974e-06, + 4.0901691136241425e-06, + 4.030446689284872e-06, + 4.138147232879419e-06, + 4.517066372500267e-06, + 4.976690888724988e-06, + 5.283204245642992e-06, + 5.490644070960116e-06, + 5.485328983922955e-06, + 5.377514753490686e-06, + 5.024607162340544e-06, + 4.638098744180752e-06, + 4.4563512346940115e-06, + 4.433286903804401e-06, + 4.393454219098203e-06, + 4.30161708209198e-06, + 4.256042302586138e-06, + 4.247777269483777e-06, + 4.2504339035076555e-06, + 4.403466846270021e-06, + 4.79334903502604e-06, + 5.064764081907924e-06, + 5.080677510704845e-06, + 5.045639227319043e-06, + 5.130371846462367e-06, + 5.287393378239358e-06, + 5.5048958529368974e-06, + 5.740867891290691e-06, + 5.826080723636551e-06, + 5.947514182480518e-06, + 6.205814770510187e-06, + 6.302487236098386e-06, + 5.991663783788681e-06, + 5.625796802632976e-06, + 5.624221557809506e-06, + 5.90256195209804e-06, + 6.087260317144683e-06, + 6.273511644394603e-06, + 6.3527158999932e-06, + 6.40112693872652e-06, + 6.539059995702701e-06, + 7.004021426837426e-06, + 7.632520464539994e-06, + 8.033439371502027e-06, + 7.886226740083657e-06, + 7.623297278769314e-06, + 7.393501618935261e-06, + 7.198072125902399e-06, + 7.1739796112524346e-06, + 7.2132638706534635e-06, + 7.2741968324407935e-06, + 7.33259912522044e-06, + 7.393656233034562e-06, + 7.514901881222613e-06, + 7.657819878659211e-06, + 7.803043445164803e-06, + 8.137596523738466e-06, + 8.608823918621056e-06, + 9.164573384623509e-06, + 9.462901289225556e-06, + 9.668985512689687e-06, + 9.866902473731898e-06, + 9.967154255718924e-06, + 9.870622307062149e-06, + 9.624965059629176e-06, + 9.537967343931086e-06, + 9.478864740231074e-06, + 9.323975973529741e-06, + 9.247364687325899e-06, + 9.465594303037506e-06, + 9.723275070427917e-06, + 9.61254772846587e-06, + 9.738166227180045e-06, + 9.86979648587294e-06, + 1.0048539479612373e-05, + 1.0238730283163022e-05, + 1.0508711966394912e-05, + 1.0846569239220116e-05, + 1.109236563934246e-05, + 1.1184725735802203e-05, + 1.1263417036389e-05, + 1.1347565305186436e-05, + 1.1356366485415492e-05, + 1.1364161764504388e-05, + 1.1435773558332585e-05, + 1.1513209756230935e-05, + 1.157446786237415e-05, + 1.1664853445836343e-05, + 1.1621079465840012e-05, + 1.1455986168584786e-05 + ] + ], + "episode_mean_losses": [ + 7.24512485798338e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8739209483319428e-06, + "observation_loss": 2.8739209483319428e-06, + "chamfer": 2.4379864953516517e-06, + "track": 4.359343677151628e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.149014421273023e-05, + "observation_loss": 3.1596005101164337e-06, + "chamfer": 2.6723198516265256e-06, + "track": 4.872806016464892e-07, + "acceleration": 3.833054506685585e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3387701730825938e-05, + "observation_loss": 3.2948842090263497e-06, + "chamfer": 2.7893800051970175e-06, + "track": 5.055041469859134e-07, + "acceleration": 2.0092817067052238e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0211800145043526e-05, + "observation_loss": 3.72755039279582e-06, + "chamfer": 3.143346475553699e-06, + "track": 5.842038603987021e-07, + "acceleration": 6.484249752247706e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.18359354120912e-06, + "observation_loss": 4.25011285187793e-06, + "chamfer": 3.5644932268041885e-06, + "track": 6.8561968191716e-07, + "acceleration": 1.933480916704866e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.647191301250132e-06, + "observation_loss": 4.459604497242253e-06, + "chamfer": 3.731555352715077e-06, + "track": 7.280490876837575e-07, + "acceleration": 1.1875869176947162e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.922667812934378e-06, + "observation_loss": 4.223049927531974e-06, + "chamfer": 3.539050794643117e-06, + "track": 6.83999246575695e-07, + "acceleration": 6.996178285589849e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.610340511135291e-06, + "observation_loss": 4.0901691136241425e-06, + "chamfer": 3.433221991144819e-06, + "track": 6.569470656359044e-07, + "acceleration": 5.201715680414054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.489594630285865e-06, + "observation_loss": 4.030446689284872e-06, + "chamfer": 3.3877008718263824e-06, + "track": 6.427455900848145e-07, + "acceleration": 4.5914813995295845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.4460816752689425e-06, + "observation_loss": 4.138147232879419e-06, + "chamfer": 3.4761387723847292e-06, + "track": 6.620086878683651e-07, + "acceleration": 3.079343571243953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.6451577873085625e-06, + "observation_loss": 4.517066372500267e-06, + "chamfer": 3.7842244182684226e-06, + "track": 7.32842067918682e-07, + "acceleration": 1.2809142901915038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.063360276835738e-06, + "observation_loss": 4.976690888724988e-06, + "chamfer": 4.152842848270666e-06, + "track": 8.238478699240659e-07, + "acceleration": 8.6669558641006e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.369786322262371e-06, + "observation_loss": 5.283204245642992e-06, + "chamfer": 4.4046664697816595e-06, + "track": 8.785377190179133e-07, + "acceleration": 8.6582012670533e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.593655714619672e-06, + "observation_loss": 5.490644070960116e-06, + "chamfer": 4.58103249911801e-06, + "track": 9.096117992157815e-07, + "acceleration": 1.0301170050297515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.5438313211197965e-06, + "observation_loss": 5.485328983922955e-06, + "chamfer": 4.580303084367188e-06, + "track": 9.050256721820915e-07, + "acceleration": 5.8502191535581005e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.496956418937771e-06, + "observation_loss": 5.377514753490686e-06, + "chamfer": 4.492349034990184e-06, + "track": 8.85165889030759e-07, + "acceleration": 1.1944179334477667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.228799182077637e-06, + "observation_loss": 5.024607162340544e-06, + "chamfer": 4.203283879178343e-06, + "track": 8.213233968490385e-07, + "acceleration": 2.0419216184563993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.940447524859337e-06, + "observation_loss": 4.638098744180752e-06, + "chamfer": 3.883923909597797e-06, + "track": 7.541747777395358e-07, + "acceleration": 3.0234858172661916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.634790457203053e-06, + "observation_loss": 4.4563512346940115e-06, + "chamfer": 3.7317777241696604e-06, + "track": 7.245734536809323e-07, + "acceleration": 1.7843916566562257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.643286956707016e-06, + "observation_loss": 4.433286903804401e-06, + "chamfer": 3.70870839105919e-06, + "track": 7.245786832754675e-07, + "acceleration": 2.1000022343287128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.672544037020998e-06, + "observation_loss": 4.393454219098203e-06, + "chamfer": 3.6741705571330385e-06, + "track": 7.192837756520021e-07, + "acceleration": 2.7908967581424804e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.581015673466027e-06, + "observation_loss": 4.30161708209198e-06, + "chamfer": 3.5989337447972503e-06, + "track": 7.026832236078917e-07, + "acceleration": 2.7939856295233767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5343826968746725e-06, + "observation_loss": 4.256042302586138e-06, + "chamfer": 3.5668231248564553e-06, + "track": 6.89219177729683e-07, + "acceleration": 2.78340309023406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.532874299911782e-06, + "observation_loss": 4.247777269483777e-06, + "chamfer": 3.5565331018005963e-06, + "track": 6.912441676831804e-07, + "acceleration": 2.8509717253655253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.5478327592718415e-06, + "observation_loss": 4.2504339035076555e-06, + "chamfer": 3.5428081446298165e-06, + "track": 7.076257020344201e-07, + "acceleration": 2.973990262944426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.684308350988431e-06, + "observation_loss": 4.403466846270021e-06, + "chamfer": 3.6502819966699462e-06, + "track": 7.531846790698182e-07, + "acceleration": 2.808415615618287e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.170148142497055e-06, + "observation_loss": 4.79334903502604e-06, + "chamfer": 3.944716354453703e-06, + "track": 8.486327942591743e-07, + "acceleration": 3.7679913589272473e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.32900321559282e-06, + "observation_loss": 5.064764081907924e-06, + "chamfer": 4.153298959863605e-06, + "track": 9.114649515140627e-07, + "acceleration": 2.6423896315463935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.490280727826757e-06, + "observation_loss": 5.080677510704845e-06, + "chamfer": 4.171135515207425e-06, + "track": 9.09542166027677e-07, + "acceleration": 4.0960327396533103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.269245320960181e-06, + "observation_loss": 5.045639227319043e-06, + "chamfer": 4.153369900450343e-06, + "track": 8.922693837121187e-07, + "acceleration": 2.23606178906266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.4322749747370835e-06, + "observation_loss": 5.130371846462367e-06, + "chamfer": 4.228342277201591e-06, + "track": 9.020295124173572e-07, + "acceleration": 3.0190324196155416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.746507213189034e-06, + "observation_loss": 5.287393378239358e-06, + "chamfer": 4.353560143499635e-06, + "track": 9.338332915831415e-07, + "acceleration": 4.591137212628382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.967947345197899e-06, + "observation_loss": 5.5048958529368974e-06, + "chamfer": 4.525658368947916e-06, + "track": 9.792375976758194e-07, + "acceleration": 4.6305160594783956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.368456524796784e-06, + "observation_loss": 5.740867891290691e-06, + "chamfer": 4.698806606029393e-06, + "track": 1.0420610578876222e-06, + "acceleration": 6.275887471929309e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.383912932506064e-06, + "observation_loss": 5.826080723636551e-06, + "chamfer": 4.761577201861655e-06, + "track": 1.0645036354617332e-06, + "acceleration": 5.578322088695131e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.31547800367116e-06, + "observation_loss": 5.947514182480518e-06, + "chamfer": 4.8376973609265406e-06, + "track": 1.1098170489276526e-06, + "acceleration": 3.6796396329918934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.376317287504207e-06, + "observation_loss": 6.205814770510187e-06, + "chamfer": 5.023364792577922e-06, + "track": 1.182449977932265e-06, + "acceleration": 1.7050260225914826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.581267371075228e-06, + "observation_loss": 6.302487236098386e-06, + "chamfer": 5.106175194669049e-06, + "track": 1.1963119277424994e-06, + "acceleration": 2.787801065551321e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.158751148177544e-06, + "observation_loss": 5.991663783788681e-06, + "chamfer": 4.881280347035499e-06, + "track": 1.1103832093795063e-06, + "acceleration": 1.6708732175629848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.74306295675342e-06, + "observation_loss": 5.625796802632976e-06, + "chamfer": 4.5977872105140705e-06, + "track": 1.0280094784320681e-06, + "acceleration": 1.1726595516847738e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.878447154827882e-06, + "observation_loss": 5.624221557809506e-06, + "chamfer": 4.594020083459327e-06, + "track": 1.0302013606633409e-06, + "acceleration": 2.54225795970342e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.136323918326525e-06, + "observation_loss": 5.90256195209804e-06, + "chamfer": 4.796438133780612e-06, + "track": 1.1061237046305905e-06, + "acceleration": 2.337618667525021e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.207836577232229e-06, + "observation_loss": 6.087260317144683e-06, + "chamfer": 4.920899755234132e-06, + "track": 1.166360561910551e-06, + "acceleration": 1.205762885092554e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.3078778111957945e-06, + "observation_loss": 6.273511644394603e-06, + "chamfer": 5.056789177615428e-06, + "track": 1.216722580466012e-06, + "acceleration": 3.436602824535839e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.435897830670001e-06, + "observation_loss": 6.3527158999932e-06, + "chamfer": 5.112833150633378e-06, + "track": 1.2398829767334973e-06, + "acceleration": 8.318176014654455e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.552141257998301e-06, + "observation_loss": 6.40112693872652e-06, + "chamfer": 5.148864602233516e-06, + "track": 1.2522624501798418e-06, + "acceleration": 1.5101441874776356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.737028343195561e-06, + "observation_loss": 6.539059995702701e-06, + "chamfer": 5.257181328488514e-06, + "track": 1.2818786672141869e-06, + "acceleration": 1.979681201191852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.164670023485087e-06, + "observation_loss": 7.004021426837426e-06, + "chamfer": 5.603840691037476e-06, + "track": 1.4001805084262742e-06, + "acceleration": 1.6064838348484045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.773378456477076e-06, + "observation_loss": 7.632520464539994e-06, + "chamfer": 6.045159352652263e-06, + "track": 1.587360998200893e-06, + "acceleration": 1.408581198347747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.320790584548377e-06, + "observation_loss": 8.033439371502027e-06, + "chamfer": 6.331972144835163e-06, + "track": 1.701467681414215e-06, + "acceleration": 2.873514972634439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.148527740559075e-06, + "observation_loss": 7.886226740083657e-06, + "chamfer": 6.235593446035637e-06, + "track": 1.6506328393006697e-06, + "acceleration": 2.6230122784909327e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.875185474404134e-06, + "observation_loss": 7.623297278769314e-06, + "chamfer": 6.05746981818811e-06, + "track": 1.565827460581204e-06, + "acceleration": 2.5188816721311014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.476709015463712e-06, + "observation_loss": 7.393501618935261e-06, + "chamfer": 5.8877599258266855e-06, + "track": 1.5057416931085754e-06, + "acceleration": 8.320725441990362e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.252245723066153e-06, + "observation_loss": 7.198072125902399e-06, + "chamfer": 5.74130353925284e-06, + "track": 1.4567685866495594e-06, + "acceleration": 5.417369663973659e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.237440513563342e-06, + "observation_loss": 7.1739796112524346e-06, + "chamfer": 5.719230102840811e-06, + "track": 1.4547495084116235e-06, + "acceleration": 6.346080994035219e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.295774139493005e-06, + "observation_loss": 7.2132638706534635e-06, + "chamfer": 5.739826974604512e-06, + "track": 1.4734370097357896e-06, + "acceleration": 8.251004857129374e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.318134521483444e-06, + "observation_loss": 7.2741968324407935e-06, + "chamfer": 5.782199423265411e-06, + "track": 1.4919976365490584e-06, + "acceleration": 4.3937895100043534e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5358520916779526e-06, + "observation_loss": 7.33259912522044e-06, + "chamfer": 5.811077244288754e-06, + "track": 1.5215217672448489e-06, + "acceleration": 2.0325319383118767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.867855856602546e-06, + "observation_loss": 7.393656233034562e-06, + "chamfer": 5.858817985426867e-06, + "track": 1.5348380202340195e-06, + "acceleration": 4.7419948145943636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.480448741465807e-06, + "observation_loss": 7.514901881222613e-06, + "chamfer": 5.93538834436913e-06, + "track": 1.579513536853483e-06, + "acceleration": 9.65547201303707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.046158993442077e-06, + "observation_loss": 7.657819878659211e-06, + "chamfer": 6.048587692930596e-06, + "track": 1.6092317309812643e-06, + "acceleration": 1.388339114782866e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.616709237685427e-06, + "observation_loss": 7.803043445164803e-06, + "chamfer": 6.160496013762895e-06, + "track": 1.6425475450887461e-06, + "acceleration": 8.136657356772048e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.47742921905592e-06, + "observation_loss": 8.137596523738466e-06, + "chamfer": 6.404597570508486e-06, + "track": 1.7329986121694674e-06, + "acceleration": 3.3983306479967723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.871005775290541e-06, + "observation_loss": 8.608823918621056e-06, + "chamfer": 6.728298103553243e-06, + "track": 1.8805262698151637e-06, + "acceleration": 2.621817998260667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.27756991586648e-06, + "observation_loss": 9.164573384623509e-06, + "chamfer": 7.106184511940228e-06, + "track": 2.0583891000569565e-06, + "acceleration": 1.1299658808638924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.548455636831932e-06, + "observation_loss": 9.462901289225556e-06, + "chamfer": 7.306963198061567e-06, + "track": 2.1559383185376646e-06, + "acceleration": 8.555479524829934e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.938449693436269e-06, + "observation_loss": 9.668985512689687e-06, + "chamfer": 7.446678409905871e-06, + "track": 2.2223068754101405e-06, + "acceleration": 2.694644649636757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0033583748736419e-05, + "observation_loss": 9.866902473731898e-06, + "chamfer": 7.556462151114829e-06, + "track": 2.310440322617069e-06, + "acceleration": 1.6668118973939272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0080762876896188e-05, + "observation_loss": 9.967154255718924e-06, + "chamfer": 7.61195815357496e-06, + "track": 2.355196102143964e-06, + "acceleration": 1.1360896934320408e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0191674846282694e-05, + "observation_loss": 9.870622307062149e-06, + "chamfer": 7.548765097453725e-06, + "track": 2.3218576643557753e-06, + "acceleration": 3.2105236869028886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0421165825391654e-05, + "observation_loss": 9.624965059629176e-06, + "chamfer": 7.400718459393829e-06, + "track": 2.2242463728616713e-06, + "acceleration": 7.962004815453838e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0015731277235318e-05, + "observation_loss": 9.537967343931086e-06, + "chamfer": 7.334123438340612e-06, + "track": 2.2038439055904746e-06, + "acceleration": 4.777642743647448e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.684697033662815e-06, + "observation_loss": 9.478864740231074e-06, + "chamfer": 7.293007456610212e-06, + "track": 2.1858568288735114e-06, + "acceleration": 2.058320660580648e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.622425750421826e-06, + "observation_loss": 9.323975973529741e-06, + "chamfer": 7.181416549428832e-06, + "track": 2.1425598788482603e-06, + "acceleration": 2.984494926749903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0087354894494638e-05, + "observation_loss": 9.247364687325899e-06, + "chamfer": 7.113308583939215e-06, + "track": 2.134056330760359e-06, + "acceleration": 8.399906619160902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2697846614173613e-05, + "observation_loss": 9.465594303037506e-06, + "chamfer": 7.25410654922598e-06, + "track": 2.2114875264378497e-06, + "acceleration": 3.2322520837624324e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.248070657311473e-05, + "observation_loss": 9.723275070427917e-06, + "chamfer": 7.42333168091136e-06, + "track": 2.2999438442639075e-06, + "acceleration": 2.7574315026868135e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0510407264519017e-05, + "observation_loss": 9.61254772846587e-06, + "chamfer": 7.345361154875718e-06, + "track": 2.267186573590152e-06, + "acceleration": 8.978593655228906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0318043678125832e-05, + "observation_loss": 9.738166227180045e-06, + "chamfer": 7.424530394928297e-06, + "track": 2.3136356048780726e-06, + "acceleration": 5.79877507789206e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0076297257910483e-05, + "observation_loss": 9.86979648587294e-06, + "chamfer": 7.501110758312279e-06, + "track": 2.36868572756066e-06, + "acceleration": 2.065008999352358e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0117983947566245e-05, + "observation_loss": 1.0048539479612373e-05, + "chamfer": 7.59245403969544e-06, + "track": 2.456085439916933e-06, + "acceleration": 6.944465269498323e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0355191989219747e-05, + "observation_loss": 1.0238730283163022e-05, + "chamfer": 7.688757250434719e-06, + "track": 2.5499730327283032e-06, + "acceleration": 1.1646207553894783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.05816525319824e-05, + "observation_loss": 1.0508711966394912e-05, + "chamfer": 7.863321116019506e-06, + "track": 2.645391077749082e-06, + "acceleration": 7.294052295492293e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0950874639092945e-05, + "observation_loss": 1.0846569239220116e-05, + "chamfer": 8.090273695415817e-06, + "track": 2.756295543804299e-06, + "acceleration": 1.0430523644799905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1187131349288393e-05, + "observation_loss": 1.109236563934246e-05, + "chamfer": 8.255126886069775e-06, + "track": 2.8372389806463616e-06, + "acceleration": 9.476553231024809e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.127136329159839e-05, + "observation_loss": 1.1184725735802203e-05, + "chamfer": 8.299445653392468e-06, + "track": 2.8852800824097358e-06, + "acceleration": 8.663764106131566e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1396865374990739e-05, + "observation_loss": 1.1263417036389e-05, + "chamfer": 8.350837561010849e-06, + "track": 2.912579020630801e-06, + "acceleration": 1.3344845228857594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.149735544458963e-05, + "observation_loss": 1.1347565305186436e-05, + "chamfer": 8.391810297325719e-06, + "track": 2.9557550078607164e-06, + "acceleration": 1.4979019624661305e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.142327437264612e-05, + "observation_loss": 1.1356366485415492e-05, + "chamfer": 8.38523919810541e-06, + "track": 2.9711272873100825e-06, + "acceleration": 6.690800091746496e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1567779438337311e-05, + "observation_loss": 1.1364161764504388e-05, + "chamfer": 8.392265954171307e-06, + "track": 2.971895582959405e-06, + "acceleration": 2.036176027786496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1539207662281115e-05, + "observation_loss": 1.1435773558332585e-05, + "chamfer": 8.42789995658677e-06, + "track": 3.007874056493165e-06, + "acceleration": 1.0343384104771758e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1603804523474537e-05, + "observation_loss": 1.1513209756230935e-05, + "chamfer": 8.460953722533304e-06, + "track": 3.0522555789502803e-06, + "acceleration": 9.0594362234242e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1669456398522016e-05, + "observation_loss": 1.157446786237415e-05, + "chamfer": 8.496185728290584e-06, + "track": 3.0782816793362144e-06, + "acceleration": 9.498896247350785e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1750979865610134e-05, + "observation_loss": 1.1664853445836343e-05, + "chamfer": 8.545643140678294e-06, + "track": 3.119210305158049e-06, + "acceleration": 8.612666135832114e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1728930985555053e-05, + "observation_loss": 1.1621079465840012e-05, + "chamfer": 8.522244570485782e-06, + "track": 3.0988351227279054e-06, + "acceleration": 1.0785149839875885e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.154731580754742e-05, + "observation_loss": 1.1455986168584786e-05, + "chamfer": 8.418824108957779e-06, + "track": 3.0371625143743586e-06, + "acceleration": 9.132978107118106e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.265593010037264e-06, + "chamfer_mean": 5.684714385741548e-06, + "track_mean": 1.5604104731300101e-06, + "acceleration_mean": 1.0204681923919878e-06, + "observation_score": 7.24512485798338e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.428822322999622 + }, + "score_arrays_file": "pass_scores/pass_end_0296.npz", + "score_arrays_sha256": "89c0b55245acd1c0be5b29fb3fe2bad481cce74d897684fa31ead6e9ede851de" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0297.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0297.json new file mode 100644 index 0000000000000000000000000000000000000000..63be074ddf75ec134823ec81b17bc3d4e8078189 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0297.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28512, + "completed_passes": 297, + "snapshot": "pass_end_0297", + "candidate": true, + "snapshot_arrays_sha256": "8e9d57025989abf11cb06d392db398b6ff3b632a68f942180e2dfda95558ec31", + "score": 7.2407944221216285e-06, + "score_result": { + "score": 7.2407944221216285e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8737931643263437e-06, + 3.15938314088271e-06, + 3.2932498470472638e-06, + 3.7258655538607854e-06, + 4.248087407177081e-06, + 4.458028342924081e-06, + 4.2208948798361234e-06, + 4.087278284714557e-06, + 4.027681370644132e-06, + 4.1353159758728e-06, + 4.51433879788965e-06, + 4.974397597834468e-06, + 5.281067387841176e-06, + 5.488683200383093e-06, + 5.483605491463095e-06, + 5.375768523663282e-06, + 5.022438017476816e-06, + 4.635531695384998e-06, + 4.4536636778502725e-06, + 4.431111847225111e-06, + 4.3914692469115835e-06, + 4.298659405321814e-06, + 4.2519000089669134e-06, + 4.243386683810968e-06, + 4.246806838636985e-06, + 4.401551450428087e-06, + 4.791585070051951e-06, + 5.063598109700251e-06, + 5.077963123767404e-06, + 5.041977601649705e-06, + 5.12777751282556e-06, + 5.286477062327322e-06, + 5.507696187123656e-06, + 5.744115242123371e-06, + 5.82879420107929e-06, + 5.949660589976702e-06, + 6.205584213603288e-06, + 6.301996108959429e-06, + 5.990302724967478e-06, + 5.623063771054149e-06, + 5.622091521217953e-06, + 5.900220003240975e-06, + 6.08487334829988e-06, + 6.271498023124877e-06, + 6.351139745675027e-06, + 6.399565791070927e-06, + 6.537027275044238e-06, + 7.0024962042225525e-06, + 7.631637345184572e-06, + 8.032327059481759e-06, + 7.884636943344958e-06, + 7.6213018473936245e-06, + 7.391128747258335e-06, + 7.194971203716705e-06, + 7.1706153903505765e-06, + 7.2095949690265115e-06, + 7.270572496054228e-06, + 7.329363143071532e-06, + 7.390807240881259e-06, + 7.512578122259583e-06, + 7.655584340682253e-06, + 7.80082518758718e-06, + 8.13605947769247e-06, + 8.608242751506623e-06, + 9.164528819383122e-06, + 9.463521564612165e-06, + 9.670031431596726e-06, + 9.868276720226277e-06, + 9.968438462237827e-06, + 9.871657312032767e-06, + 9.624909580452368e-06, + 9.537236110190861e-06, + 9.477848834649194e-06, + 9.322493497165851e-06, + 9.246225090464577e-06, + 9.45838928601006e-06, + 9.713843610370532e-06, + 9.604938895790838e-06, + 9.729565135785379e-06, + 9.860289537755307e-06, + 1.0036932508228347e-05, + 1.0225593541690614e-05, + 1.0494092748558614e-05, + 1.0831025974766817e-05, + 1.1076054761360865e-05, + 1.1167896445840597e-05, + 1.1246473150094971e-05, + 1.1331734640407376e-05, + 1.1340043784002773e-05, + 1.1347752661095e-05, + 1.1419136171753053e-05, + 1.1496541446831543e-05, + 1.1557649486348964e-05, + 1.1647684004856274e-05, + 1.1603333405219018e-05, + 1.143841836892534e-05 + ] + ], + "episode_mean_losses": [ + 7.2407944221216285e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8737931643263437e-06, + "observation_loss": 2.8737931643263437e-06, + "chamfer": 2.4378718990192283e-06, + "track": 4.359212937288248e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.148764128331095e-05, + "observation_loss": 3.15938314088271e-06, + "chamfer": 2.672129312486504e-06, + "track": 4.872538852396247e-07, + "acceleration": 3.832825677818619e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3374061129288748e-05, + "observation_loss": 3.2932498470472638e-06, + "chamfer": 2.788020310617867e-06, + "track": 5.052295364293968e-07, + "acceleration": 2.0080811736988835e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0205135367868934e-05, + "observation_loss": 3.7258655538607854e-06, + "chamfer": 3.1419508559338283e-06, + "track": 5.839148116137949e-07, + "acceleration": 6.479269814008148e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.165289050841238e-06, + "observation_loss": 4.248087407177081e-06, + "chamfer": 3.5628311252366984e-06, + "track": 6.852563387838018e-07, + "acceleration": 1.9172014162904816e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.640591098199366e-06, + "observation_loss": 4.458028342924081e-06, + "chamfer": 3.730254547917866e-06, + "track": 7.277736813193769e-07, + "acceleration": 1.1825628689621226e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.91712353323237e-06, + "observation_loss": 4.2208948798361234e-06, + "chamfer": 3.5372615911910543e-06, + "track": 6.836332886450691e-07, + "acceleration": 6.962288239265035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.609279130818322e-06, + "observation_loss": 4.087278284714557e-06, + "chamfer": 3.4308166050323052e-06, + "track": 6.564615659954143e-07, + "acceleration": 5.220008461037651e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4874486775370315e-06, + "observation_loss": 4.027681370644132e-06, + "chamfer": 3.3854078083095374e-06, + "track": 6.422735623345943e-07, + "acceleration": 4.597671932060621e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.443067155079916e-06, + "observation_loss": 4.1353159758728e-06, + "chamfer": 3.473782953733462e-06, + "track": 6.61532965295919e-07, + "acceleration": 3.0775098025515035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.642892236006446e-06, + "observation_loss": 4.51433879788965e-06, + "chamfer": 3.781962277571438e-06, + "track": 7.323767476918874e-07, + "acceleration": 1.2855331021910388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.061375759396469e-06, + "observation_loss": 4.974397597834468e-06, + "chamfer": 4.150944278080715e-06, + "track": 8.234534902840096e-07, + "acceleration": 8.697828235426641e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.368012352846563e-06, + "observation_loss": 5.281067387841176e-06, + "chamfer": 4.402903869049624e-06, + "track": 8.781634619481338e-07, + "acceleration": 8.69450857976517e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.592209618043853e-06, + "observation_loss": 5.488683200383093e-06, + "chamfer": 4.5794267862220295e-06, + "track": 9.092563573176449e-07, + "acceleration": 1.0352633239563147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.542030976357637e-06, + "observation_loss": 5.483605491463095e-06, + "chamfer": 4.578897460305598e-06, + "track": 9.047079174706596e-07, + "acceleration": 5.8425598581379745e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.495232926477911e-06, + "observation_loss": 5.375768523663282e-06, + "chamfer": 4.490927494771313e-06, + "track": 8.848410857353883e-07, + "acceleration": 1.1946438860377384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.226600933383452e-06, + "observation_loss": 5.022438017476816e-06, + "chamfer": 4.201503998046974e-06, + "track": 8.209338488995854e-07, + "acceleration": 2.0416284485236247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.937462563248118e-06, + "observation_loss": 4.635531695384998e-06, + "chamfer": 3.881830252794316e-06, + "track": 7.537014425906818e-07, + "acceleration": 3.0193100997166766e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.631053798220819e-06, + "observation_loss": 4.4536636778502725e-06, + "chamfer": 3.7295483252819395e-06, + "track": 7.241151251946576e-07, + "acceleration": 1.7739009194883693e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.640722636395367e-06, + "observation_loss": 4.431111847225111e-06, + "chamfer": 3.7068994060973637e-06, + "track": 7.242124979711662e-07, + "acceleration": 2.0961077495940117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6709683374501765e-06, + "observation_loss": 4.3914692469115835e-06, + "chamfer": 3.6725211884913733e-06, + "track": 7.189481721070479e-07, + "acceleration": 2.7949923264714016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.577434992825147e-06, + "observation_loss": 4.298659405321814e-06, + "chamfer": 3.596490159907262e-06, + "track": 7.021691317277146e-07, + "acceleration": 2.7877570119017037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5344509089773055e-06, + "observation_loss": 4.2519000089669134e-06, + "chamfer": 3.563420250429772e-06, + "track": 6.88479588006885e-07, + "acceleration": 2.825507294801355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.53700795333134e-06, + "observation_loss": 4.243386683810968e-06, + "chamfer": 3.552891257641022e-06, + "track": 6.904955398567836e-07, + "acceleration": 2.93621127411825e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.549055574898375e-06, + "observation_loss": 4.246806838636985e-06, + "chamfer": 3.5397590636421228e-06, + "track": 7.070476044646057e-07, + "acceleration": 3.0224890679164673e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.682349754148163e-06, + "observation_loss": 4.401551450428087e-06, + "chamfer": 3.6486517274170183e-06, + "track": 7.528995524808124e-07, + "acceleration": 2.807985310937511e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.165338279766729e-06, + "observation_loss": 4.791585070051951e-06, + "chamfer": 3.943219326174585e-06, + "track": 8.483657438773662e-07, + "acceleration": 3.7375309602794005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.326283371687168e-06, + "observation_loss": 5.063598109700251e-06, + "chamfer": 4.1522594074194785e-06, + "track": 9.113388159676106e-07, + "acceleration": 2.6268523356520745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.483231234393315e-06, + "observation_loss": 5.077963123767404e-06, + "chamfer": 4.168868599663256e-06, + "track": 9.09094580947567e-07, + "acceleration": 4.052682811561681e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.265634626994142e-06, + "observation_loss": 5.041977601649705e-06, + "chamfer": 4.15043905377388e-06, + "track": 8.91538661562663e-07, + "acceleration": 2.2365696850101813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.431822046375601e-06, + "observation_loss": 5.12777751282556e-06, + "chamfer": 4.226283635944128e-06, + "track": 9.014939337248506e-07, + "acceleration": 3.040443630197842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.770275492977817e-06, + "observation_loss": 5.286477062327322e-06, + "chamfer": 4.352912583271973e-06, + "track": 9.335644790553488e-07, + "acceleration": 4.837986580241704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.023750302119879e-06, + "observation_loss": 5.507696187123656e-06, + "chamfer": 4.527988039626507e-06, + "track": 9.797079201234737e-07, + "acceleration": 5.160542286830605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.409678917407291e-06, + "observation_loss": 5.744115242123371e-06, + "chamfer": 4.701513262261869e-06, + "track": 1.0426020935483393e-06, + "acceleration": 6.655636184405012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.427152584365103e-06, + "observation_loss": 5.82879420107929e-06, + "chamfer": 4.763978267874336e-06, + "track": 1.0648160468917922e-06, + "acceleration": 5.983584401292319e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.366656634781975e-06, + "observation_loss": 5.949660589976702e-06, + "chamfer": 4.839570465264842e-06, + "track": 1.1100900110250222e-06, + "acceleration": 4.169961300704017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.3760921875655185e-06, + "observation_loss": 6.205584213603288e-06, + "chamfer": 5.023128323955461e-06, + "track": 1.1824556622741511e-06, + "acceleration": 1.7050780343197403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.594109436264262e-06, + "observation_loss": 6.301996108959429e-06, + "chamfer": 5.105716354592005e-06, + "track": 1.1962799817410996e-06, + "acceleration": 2.921131851962855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.153671165520791e-06, + "observation_loss": 5.990302724967478e-06, + "chamfer": 4.880105279880809e-06, + "track": 1.1101974450866692e-06, + "acceleration": 1.6336856845100556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.740601409343071e-06, + "observation_loss": 5.623063771054149e-06, + "chamfer": 4.595558493747376e-06, + "track": 1.027505163619935e-06, + "acceleration": 1.1753769513234147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.877710009372095e-06, + "observation_loss": 5.622091521217953e-06, + "chamfer": 4.592302047967678e-06, + "track": 1.0297893595634378e-06, + "acceleration": 2.556185449975601e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.1365462897811085e-06, + "observation_loss": 5.900220003240975e-06, + "chamfer": 4.7945522965164855e-06, + "track": 1.1056677067244891e-06, + "acceleration": 2.3632605916645844e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.208479589986382e-06, + "observation_loss": 6.08487334829988e-06, + "chamfer": 4.91900073029683e-06, + "track": 1.1658725043162121e-06, + "acceleration": 1.2360622747564776e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.305885563051561e-06, + "observation_loss": 6.271498023124877e-06, + "chamfer": 5.055152996646939e-06, + "track": 1.216344799104263e-06, + "acceleration": 3.4387674929803325e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.4348623709520325e-06, + "observation_loss": 6.351139745675027e-06, + "chamfer": 5.111542577651562e-06, + "track": 1.2395969406497898e-06, + "acceleration": 8.372281001811643e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.5512772380316164e-06, + "observation_loss": 6.399565791070927e-06, + "chamfer": 5.147596311871894e-06, + "track": 1.2519694791990332e-06, + "acceleration": 1.517116459126555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.734622729709372e-06, + "observation_loss": 6.537027275044238e-06, + "chamfer": 5.2555442380253226e-06, + "track": 1.281482923332078e-06, + "acceleration": 1.9759556835197145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.163335340010235e-06, + "observation_loss": 7.0024962042225525e-06, + "chamfer": 5.602650617220206e-06, + "track": 1.3998454733155086e-06, + "acceleration": 1.6083914999853732e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.77350851421943e-06, + "observation_loss": 7.631637345184572e-06, + "chamfer": 6.044514066161355e-06, + "track": 1.5871236200837302e-06, + "acceleration": 1.4187077113092528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.319686457980424e-06, + "observation_loss": 8.032327059481759e-06, + "chamfer": 6.331198619591305e-06, + "track": 1.701128667264129e-06, + "acceleration": 2.873595690289221e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.148430424625985e-06, + "observation_loss": 7.884636943344958e-06, + "chamfer": 6.234448846953455e-06, + "track": 1.6501877553309896e-06, + "acceleration": 2.637938507632498e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.873964932514355e-06, + "observation_loss": 7.6213018473936245e-06, + "chamfer": 6.055949597794097e-06, + "track": 1.5653521359126898e-06, + "acceleration": 2.5266274406021694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.474787707906216e-06, + "observation_loss": 7.391128747258335e-06, + "chamfer": 5.885860900889384e-06, + "track": 1.5052678463689517e-06, + "acceleration": 8.365891801531689e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2490074671804905e-06, + "observation_loss": 7.194971203716705e-06, + "chamfer": 5.7388183449802455e-06, + "track": 1.4561527450496214e-06, + "acceleration": 5.403621017308069e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.234362783492543e-06, + "observation_loss": 7.1706153903505765e-06, + "chamfer": 5.716537543776212e-06, + "track": 1.4540778465743642e-06, + "acceleration": 6.374730077141066e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.292166628758423e-06, + "observation_loss": 7.2095949690265115e-06, + "chamfer": 5.7368597481399775e-06, + "track": 1.4727353345733718e-06, + "acceleration": 8.257168815362093e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.314004051295342e-06, + "observation_loss": 7.270572496054228e-06, + "chamfer": 5.779260845883982e-06, + "track": 1.4913117638570839e-06, + "acceleration": 4.343155524111353e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.532210020144703e-06, + "observation_loss": 7.329363143071532e-06, + "chamfer": 5.808435616927454e-06, + "track": 1.5209277535177534e-06, + "acceleration": 2.0284673496462347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.8662424130016e-06, + "observation_loss": 7.390807240881259e-06, + "chamfer": 5.856453753949609e-06, + "track": 1.53435348693165e-06, + "acceleration": 4.754353426505986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.481771146762185e-06, + "observation_loss": 7.512578122259583e-06, + "chamfer": 5.933482952968916e-06, + "track": 1.5790952829775051e-06, + "acceleration": 9.691934792499524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.048269930644892e-06, + "observation_loss": 7.655584340682253e-06, + "chamfer": 6.04677370574791e-06, + "track": 1.6088107486211811e-06, + "acceleration": 1.3926858173363144e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.617081221018452e-06, + "observation_loss": 7.80082518758718e-06, + "chamfer": 6.158658834465314e-06, + "track": 1.6421658983745147e-06, + "acceleration": 8.16256033431273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.477365554426797e-06, + "observation_loss": 8.13605947769247e-06, + "chamfer": 6.40325060885516e-06, + "track": 1.7328093235846609e-06, + "acceleration": 3.4130584936065134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.871866157278419e-06, + "observation_loss": 8.608242751506623e-06, + "chamfer": 6.7276350819156505e-06, + "track": 1.880607442217297e-06, + "acceleration": 2.6362340577179566e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.277966455556452e-06, + "observation_loss": 9.164528819383122e-06, + "chamfer": 7.1059134825190995e-06, + "track": 2.0586157916113734e-06, + "acceleration": 1.1343770012217647e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.549330570735037e-06, + "observation_loss": 9.463521564612165e-06, + "chamfer": 7.3072728810075205e-06, + "track": 2.1562486836046446e-06, + "acceleration": 8.580863664064964e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.939592018781696e-06, + "observation_loss": 9.670031431596726e-06, + "chamfer": 7.447374173352728e-06, + "track": 2.2226572582439985e-06, + "acceleration": 2.6956041665471275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0035106242867187e-05, + "observation_loss": 9.868276720226277e-06, + "chamfer": 7.55740666136262e-06, + "track": 2.310870286237332e-06, + "acceleration": 1.6682936632150813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0081896107294597e-05, + "observation_loss": 9.968438462237827e-06, + "chamfer": 7.6129504122945946e-06, + "track": 2.355488049943233e-06, + "acceleration": 1.1345770190018811e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0192307854595128e-05, + "observation_loss": 9.871657312032767e-06, + "chamfer": 7.549580459453864e-06, + "track": 2.3220773073262535e-06, + "acceleration": 3.206507983577467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0420056241855491e-05, + "observation_loss": 9.624909580452368e-06, + "chamfer": 7.400727099593496e-06, + "track": 2.2241829356062226e-06, + "acceleration": 7.951466045597044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0014543477154803e-05, + "observation_loss": 9.537236110190861e-06, + "chamfer": 7.333695521083428e-06, + "track": 2.203540361733758e-06, + "acceleration": 4.773077080244548e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.684001270215958e-06, + "observation_loss": 9.477848834649194e-06, + "chamfer": 7.292409918591147e-06, + "track": 2.1854389160580467e-06, + "acceleration": 2.0615249241018319e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.614487680664752e-06, + "observation_loss": 9.322493497165851e-06, + "chamfer": 7.180417469498934e-06, + "track": 2.1420762550405925e-06, + "acceleration": 2.9199441087257583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.0053519872599281e-05, + "observation_loss": 9.246225090464577e-06, + "chamfer": 7.113116680557141e-06, + "track": 2.133107955160085e-06, + "acceleration": 8.072951800386363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2738260011246894e-05, + "observation_loss": 9.45838928601006e-06, + "chamfer": 7.248862857522909e-06, + "track": 2.2095262011134764e-06, + "acceleration": 3.2798709526105085e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.249580327566946e-05, + "observation_loss": 9.713843610370532e-06, + "chamfer": 7.416601420118241e-06, + "track": 2.29724173550494e-06, + "acceleration": 2.7819596652989276e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.049866659741383e-05, + "observation_loss": 9.604938895790838e-06, + "chamfer": 7.340103366004769e-06, + "track": 2.2648353024123935e-06, + "acceleration": 8.937277584664116e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0336517334508244e-05, + "observation_loss": 9.729565135785379e-06, + "chamfer": 7.418457698804559e-06, + "track": 2.3111069822334684e-06, + "acceleration": 6.069523124097032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0078529157908633e-05, + "observation_loss": 9.860289537755307e-06, + "chamfer": 7.494778401451185e-06, + "track": 2.365510908930446e-06, + "acceleration": 2.1824001805725857e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0109185495821293e-05, + "observation_loss": 1.0036932508228347e-05, + "chamfer": 7.585028015455464e-06, + "track": 2.451904038025532e-06, + "acceleration": 7.225286680068166e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0343885151087306e-05, + "observation_loss": 1.0225593541690614e-05, + "chamfer": 7.680502676521428e-06, + "track": 2.5450906377955107e-06, + "acceleration": 1.1829154544784615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.056829933077097e-05, + "observation_loss": 1.0494092748558614e-05, + "chamfer": 7.854305295040831e-06, + "track": 2.639787226144108e-06, + "acceleration": 7.420655379064556e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0935547834378667e-05, + "observation_loss": 1.0831025974766817e-05, + "chamfer": 8.080821316980291e-06, + "track": 2.7502048851602012e-06, + "acceleration": 1.0452176724129458e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1170349353051279e-05, + "observation_loss": 1.1076054761360865e-05, + "chamfer": 8.245402568718418e-06, + "track": 2.830652420016122e-06, + "acceleration": 9.42950038052004e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1254426681261975e-05, + "observation_loss": 1.1167896445840597e-05, + "chamfer": 8.28940210340079e-06, + "track": 2.878494797187159e-06, + "acceleration": 8.653064043073755e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.137940853368491e-05, + "observation_loss": 1.1246473150094971e-05, + "chamfer": 8.340765816683415e-06, + "track": 2.905706878664205e-06, + "acceleration": 1.3293536937908357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1480933608254418e-05, + "observation_loss": 1.1331734640407376e-05, + "chamfer": 8.382741725654341e-06, + "track": 2.9489926873793593e-06, + "acceleration": 1.491988825819135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1406825251469854e-05, + "observation_loss": 1.1340043784002773e-05, + "chamfer": 8.375673132832162e-06, + "track": 2.9643711059179623e-06, + "acceleration": 6.678181563302132e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1551560419320595e-05, + "observation_loss": 1.1347752661095e-05, + "chamfer": 8.382578016608022e-06, + "track": 2.965174871860654e-06, + "acceleration": 2.0380734611080698e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1523078683239873e-05, + "observation_loss": 1.1419136171753053e-05, + "chamfer": 8.418186553171836e-06, + "track": 3.0009498459548922e-06, + "acceleration": 1.03942156215453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1587202607188374e-05, + "observation_loss": 1.1496541446831543e-05, + "chamfer": 8.451248504570685e-06, + "track": 3.0452927148871822e-06, + "acceleration": 9.066086903430914e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1652666216832586e-05, + "observation_loss": 1.1557649486348964e-05, + "chamfer": 8.48644231155049e-06, + "track": 3.071206720051123e-06, + "acceleration": 9.501710707127131e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1733794963220134e-05, + "observation_loss": 1.1647684004856274e-05, + "chamfer": 8.535756933270022e-06, + "track": 3.1119272989599267e-06, + "acceleration": 8.611137047864759e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.171133953903336e-05, + "observation_loss": 1.1603333405219018e-05, + "chamfer": 8.511877240380272e-06, + "track": 3.0914563922124216e-06, + "acceleration": 1.0800626171203476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1529726180015132e-05, + "observation_loss": 1.143841836892534e-05, + "chamfer": 8.408543180848937e-06, + "track": 3.029875642823754e-06, + "acceleration": 9.130825162628753e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.26419632460329e-06, + "chamfer_mean": 5.681831986237285e-06, + "track_mean": 1.5589624267065005e-06, + "acceleration_mean": 1.023401928719932e-06, + "observation_score": 7.2407944221216285e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4300809920005122 + }, + "score_arrays_file": "pass_scores/pass_end_0297.npz", + "score_arrays_sha256": "4de601295d186d576bd3a61cf21a42fce05f85b90fed6a99ed416e963a6d02c5" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0298.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0298.json new file mode 100644 index 0000000000000000000000000000000000000000..d0c64f03f85ef3bc969f0bfec389c8b2eece09eb --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0298.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28608, + "completed_passes": 298, + "snapshot": "pass_end_0298", + "candidate": true, + "snapshot_arrays_sha256": "fe05a0e51f9e2e1023ac86e495aca918ee1becb779313e13568d5628c1b23504", + "score": 7.236761194443868e-06, + "score_result": { + "score": 7.236761194443868e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.873676294257166e-06, + 3.1592342111252947e-06, + 3.291621169410064e-06, + 3.7241209156491095e-06, + 4.2460042095626704e-06, + 4.456171609490411e-06, + 4.218544745526742e-06, + 4.084239662915934e-06, + 4.024957434012322e-06, + 4.132569756620796e-06, + 4.511935458140215e-06, + 4.9720238166628405e-06, + 5.279152901493944e-06, + 5.487038833962288e-06, + 5.482307642523665e-06, + 5.37435153091792e-06, + 5.02052671436104e-06, + 4.6333702812262345e-06, + 4.45119985670317e-06, + 4.428877218742855e-06, + 4.388639354147017e-06, + 4.295061899028951e-06, + 4.247663582646055e-06, + 4.239669124217471e-06, + 4.2437691263330635e-06, + 4.40025496573071e-06, + 4.790540060639614e-06, + 5.0633129831112456e-06, + 5.076280103821773e-06, + 5.039742973167449e-06, + 5.12687984155491e-06, + 5.2879672693961766e-06, + 5.5128502935986035e-06, + 5.748949206463294e-06, + 5.832275746797677e-06, + 5.952917945251102e-06, + 6.206951184140053e-06, + 6.303719601419289e-06, + 5.9910448726441246e-06, + 5.6206690715043806e-06, + 5.618019258690765e-06, + 5.8953337429556996e-06, + 6.079343165765749e-06, + 6.2659582908963785e-06, + 6.346165719151031e-06, + 6.394346200977452e-06, + 6.5317108237650245e-06, + 6.996715455898084e-06, + 7.624791123816976e-06, + 8.025043825909961e-06, + 7.87721000961028e-06, + 7.61471801524749e-06, + 7.385763183265226e-06, + 7.190949872892816e-06, + 7.167544936237391e-06, + 7.206415830296464e-06, + 7.2674920374993235e-06, + 7.326438662857981e-06, + 7.3881042226275895e-06, + 7.5101179390912876e-06, + 7.653391548956279e-06, + 7.79871697886847e-06, + 8.134117706504185e-06, + 8.606764822616242e-06, + 9.163636605080683e-06, + 9.46315958572086e-06, + 9.670122381066903e-06, + 9.868743291008286e-06, + 9.969589882530272e-06, + 9.873117960523814e-06, + 9.626059181755409e-06, + 9.538004633213859e-06, + 9.478255378780887e-06, + 9.322173355030827e-06, + 9.246622539649252e-06, + 9.453728125663474e-06, + 9.707694516691845e-06, + 9.600327757652849e-06, + 9.723963557917159e-06, + 9.853690244199242e-06, + 1.0028627002611756e-05, + 1.0215297152171843e-05, + 1.0482393008715007e-05, + 1.0818614100571722e-05, + 1.1062111298087984e-05, + 1.1153225386806298e-05, + 1.1231605640205089e-05, + 1.1317928510834463e-05, + 1.1325557352392934e-05, + 1.1333038855809718e-05, + 1.1404592441977002e-05, + 1.1482450645416975e-05, + 1.1543379514478147e-05, + 1.163315937446896e-05, + 1.1588428606046364e-05, + 1.1423519936215598e-05 + ] + ], + "episode_mean_losses": [ + 7.236761194443868e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.873676294257166e-06, + "observation_loss": 2.873676294257166e-06, + "chamfer": 2.43776503339177e-06, + "track": 4.3591114717855817e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.148538937442936e-05, + "observation_loss": 3.1592342111252947e-06, + "chamfer": 2.6719960715126945e-06, + "track": 4.872380827691813e-07, + "acceleration": 3.832615402643569e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.336283796466887e-05, + "observation_loss": 3.291621169410064e-06, + "chamfer": 2.786665618259576e-06, + "track": 5.049555511504877e-07, + "acceleration": 2.007121656788513e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0201621989835985e-05, + "observation_loss": 3.7241209156491095e-06, + "chamfer": 3.1405054414790357e-06, + "track": 5.836155310134927e-07, + "acceleration": 6.477501301560551e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.149573891889304e-06, + "observation_loss": 4.2460042095626704e-06, + "chamfer": 3.561127186912927e-06, + "track": 6.848771363365813e-07, + "acceleration": 1.9035697960134712e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.63467847314314e-06, + "observation_loss": 4.456171609490411e-06, + "chamfer": 3.72873046217137e-06, + "track": 7.274412610058789e-07, + "acceleration": 1.1785069773395662e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.912314125249395e-06, + "observation_loss": 4.218544745526742e-06, + "chamfer": 3.5353180010133656e-06, + "track": 6.832269718870521e-07, + "acceleration": 6.937694365660718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.607055871019838e-06, + "observation_loss": 4.084239662915934e-06, + "chamfer": 3.4282991236977978e-06, + "track": 6.559405392181361e-07, + "acceleration": 5.228161512604856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.484778855839977e-06, + "observation_loss": 4.024957434012322e-06, + "chamfer": 3.3831574910436757e-06, + "track": 6.417998292818083e-07, + "acceleration": 4.598214218276553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.440003976924345e-06, + "observation_loss": 4.132569756620796e-06, + "chamfer": 3.471498757789959e-06, + "track": 6.610709988308372e-07, + "acceleration": 3.0743416346012964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.6405839384533465e-06, + "observation_loss": 4.511935458140215e-06, + "chamfer": 3.7799691199325025e-06, + "track": 7.319662245208747e-07, + "acceleration": 1.2864838083714858e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.058966053184122e-06, + "observation_loss": 4.9720238166628405e-06, + "chamfer": 4.148991592956008e-06, + "track": 8.230321668634133e-07, + "acceleration": 8.694205888559736e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.366231107473141e-06, + "observation_loss": 5.279152901493944e-06, + "chamfer": 4.401335445436416e-06, + "track": 8.778172855272715e-07, + "acceleration": 8.707812071406806e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.590280579781393e-06, + "observation_loss": 5.487038833962288e-06, + "chamfer": 4.578088464768371e-06, + "track": 9.089502555070794e-07, + "acceleration": 1.0324189503307935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.54072448721854e-06, + "observation_loss": 5.482307642523665e-06, + "chamfer": 4.577856088872068e-06, + "track": 9.044514968081785e-07, + "acceleration": 5.8416866011157254e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.493917342391796e-06, + "observation_loss": 5.37435153091792e-06, + "chamfer": 4.489788807404693e-06, + "track": 8.845628940434835e-07, + "acceleration": 1.1956582568473095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.224629148870008e-06, + "observation_loss": 5.02052671436104e-06, + "chamfer": 4.1999428503913805e-06, + "track": 8.20584034499916e-07, + "acceleration": 2.0410264767178887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.935309334541671e-06, + "observation_loss": 4.6333702812262345e-06, + "chamfer": 3.880072199535789e-06, + "track": 7.53297911160189e-07, + "acceleration": 3.019391954239836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.627782345778542e-06, + "observation_loss": 4.45119985670317e-06, + "chamfer": 3.7275108297762927e-06, + "track": 7.236887995532015e-07, + "acceleration": 1.7658251749708143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.637573510990478e-06, + "observation_loss": 4.428877218742855e-06, + "chamfer": 3.7050547234684927e-06, + "track": 7.23822552117781e-07, + "acceleration": 2.0869632066933264e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.668479050451424e-06, + "observation_loss": 4.388639354147017e-06, + "chamfer": 3.6701901535707293e-06, + "track": 7.184492005762877e-07, + "acceleration": 2.798398384129541e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.572981197270565e-06, + "observation_loss": 4.295061899028951e-06, + "chamfer": 3.5935470350523246e-06, + "track": 7.015149776634644e-07, + "acceleration": 2.7791946877187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5335136746871285e-06, + "observation_loss": 4.247663582646055e-06, + "chamfer": 3.559943706932245e-06, + "track": 6.877199325572292e-07, + "acceleration": 2.8585026257132995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.540138888842193e-06, + "observation_loss": 4.239669124217471e-06, + "chamfer": 3.5498185297910823e-06, + "track": 6.898504807395511e-07, + "acceleration": 3.00469679359594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.550218363874592e-06, + "observation_loss": 4.2437691263330635e-06, + "chamfer": 3.537219981808448e-06, + "track": 7.065490308377775e-07, + "acceleration": 3.064492943849473e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.680002348322887e-06, + "observation_loss": 4.40025496573071e-06, + "chamfer": 3.647559424280189e-06, + "track": 7.526954277636833e-07, + "acceleration": 2.7974729732704873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.160320597497048e-06, + "observation_loss": 4.790540060639614e-06, + "chamfer": 3.942379862564849e-06, + "track": 8.481600275445089e-07, + "acceleration": 3.6978036632717703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.3238190957927145e-06, + "observation_loss": 5.0633129831112456e-06, + "chamfer": 4.1519588194205426e-06, + "track": 9.113540500038653e-07, + "acceleration": 2.6050631163343496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.475761554407654e-06, + "observation_loss": 5.076280103821773e-06, + "chamfer": 4.167452516412595e-06, + "track": 9.088275874091778e-07, + "acceleration": 3.9948162111613783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.261869773676153e-06, + "observation_loss": 5.039742973167449e-06, + "chamfer": 4.148656898905756e-06, + "track": 8.910858468880178e-07, + "acceleration": 2.2212674366528518e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.430634701042436e-06, + "observation_loss": 5.12687984155491e-06, + "chamfer": 4.225578777550254e-06, + "track": 9.013012345349125e-07, + "acceleration": 3.037548310658167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.7898619161278475e-06, + "observation_loss": 5.2879672693961766e-06, + "chamfer": 4.354168595455121e-06, + "track": 9.337986739410553e-07, + "acceleration": 5.018944762014144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.075491910451092e-06, + "observation_loss": 5.5128502935986035e-06, + "chamfer": 4.532203547569225e-06, + "track": 9.806467460293788e-07, + "acceleration": 5.62641787382745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.43597422822495e-06, + "observation_loss": 5.748949206463294e-06, + "chamfer": 4.705506853497354e-06, + "track": 1.043442239279102e-06, + "acceleration": 6.870251354484935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.455408765759785e-06, + "observation_loss": 5.832275746797677e-06, + "chamfer": 4.766984602611046e-06, + "track": 1.0652911441866308e-06, + "acceleration": 6.231327915884322e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.420796580641763e-06, + "observation_loss": 5.952917945251102e-06, + "chamfer": 4.8423075895698275e-06, + "track": 1.1106102419944364e-06, + "acceleration": 4.6787855012553337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.374027634592494e-06, + "observation_loss": 6.206951184140053e-06, + "chamfer": 5.024073743697954e-06, + "track": 1.1828773267552606e-06, + "acceleration": 1.670764078198772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.610694526898442e-06, + "observation_loss": 6.303719601419289e-06, + "chamfer": 5.1068550419586245e-06, + "track": 1.1968646731475019e-06, + "acceleration": 3.069750391659909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.151188699732302e-06, + "observation_loss": 5.9910448726441246e-06, + "chamfer": 4.880534106632695e-06, + "track": 1.1105106523245922e-06, + "acceleration": 1.6014394077501493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.739374046243029e-06, + "observation_loss": 5.6206690715043806e-06, + "chamfer": 4.593524408846861e-06, + "track": 1.0271448900311952e-06, + "acceleration": 1.187050528983491e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.875630449736491e-06, + "observation_loss": 5.618019258690765e-06, + "chamfer": 4.588989668263821e-06, + "track": 1.0290295904269442e-06, + "acceleration": 2.5761138999769173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.134580871730577e-06, + "observation_loss": 5.8953337429556996e-06, + "chamfer": 4.790636467078002e-06, + "track": 1.1046972758776974e-06, + "acceleration": 2.392473561485531e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.2049371081229765e-06, + "observation_loss": 6.079343165765749e-06, + "chamfer": 4.914585133519722e-06, + "track": 1.1647579185591894e-06, + "acceleration": 1.2559401341150078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.300266250036657e-06, + "observation_loss": 6.2659582908963785e-06, + "chamfer": 5.050793788541341e-06, + "track": 1.2151645023550373e-06, + "acceleration": 3.430777084645342e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.430802841350669e-06, + "observation_loss": 6.346165719151031e-06, + "chamfer": 5.107634024170693e-06, + "track": 1.238531808667176e-06, + "acceleration": 8.46371577267746e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.546724762301892e-06, + "observation_loss": 6.394346200977452e-06, + "chamfer": 5.143459020473529e-06, + "track": 1.2508874078775989e-06, + "acceleration": 1.5237876027640596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.7303344621905126e-06, + "observation_loss": 6.5317108237650245e-06, + "chamfer": 5.251390575722326e-06, + "track": 1.2803203617295367e-06, + "acceleration": 1.98623439473522e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.158155767683638e-06, + "observation_loss": 6.996715455898084e-06, + "chamfer": 5.598233656201046e-06, + "track": 1.3984815723233623e-06, + "acceleration": 1.614401980987168e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.767267561575864e-06, + "observation_loss": 7.624791123816976e-06, + "chamfer": 6.039404979674146e-06, + "track": 1.585386030455993e-06, + "acceleration": 1.4247611090922874e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.312905265484005e-06, + "observation_loss": 8.025043825909961e-06, + "chamfer": 6.325995400402462e-06, + "track": 1.6990486528811743e-06, + "acceleration": 2.878616101043008e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.142727892845869e-06, + "observation_loss": 7.87721000961028e-06, + "chamfer": 6.229097834875574e-06, + "track": 1.648112629482057e-06, + "acceleration": 2.6551776954875095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.867496606195346e-06, + "observation_loss": 7.61471801524749e-06, + "chamfer": 6.051089258107822e-06, + "track": 1.5636287571396679e-06, + "acceleration": 2.527786477912741e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4695240073197056e-06, + "observation_loss": 7.385763183265226e-06, + "chamfer": 5.881761353521142e-06, + "track": 1.5040018297440838e-06, + "acceleration": 8.376080273819753e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.24495475878939e-06, + "observation_loss": 7.190949872892816e-06, + "chamfer": 5.735712875321042e-06, + "track": 1.4552369975717738e-06, + "acceleration": 5.40046691810403e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.230757091747364e-06, + "observation_loss": 7.167544936237391e-06, + "chamfer": 5.714170583814848e-06, + "track": 1.4533745797962183e-06, + "acceleration": 6.321194945257957e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.288443157449365e-06, + "observation_loss": 7.206415830296464e-06, + "chamfer": 5.734372734877979e-06, + "track": 1.4720433227921603e-06, + "acceleration": 8.202724899319946e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.311400167964166e-06, + "observation_loss": 7.2674920374993235e-06, + "chamfer": 5.776843863714021e-06, + "track": 1.490648060098465e-06, + "acceleration": 4.390825836253498e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5300526987120975e-06, + "observation_loss": 7.326438662857981e-06, + "chamfer": 5.806164153909776e-06, + "track": 1.5202743952613673e-06, + "acceleration": 2.036140500649708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.866202395234723e-06, + "observation_loss": 7.3881042226275895e-06, + "chamfer": 5.854346909472952e-06, + "track": 1.5337573131546378e-06, + "acceleration": 4.780977747032011e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.483238161716145e-06, + "observation_loss": 7.5101179390912876e-06, + "chamfer": 5.931583018536912e-06, + "track": 1.5785348068675376e-06, + "acceleration": 9.731204499985324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.050725566339679e-06, + "observation_loss": 7.653391548956279e-06, + "chamfer": 6.045080226613209e-06, + "track": 1.6083116634035832e-06, + "acceleration": 1.3973343584439135e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.617814273748081e-06, + "observation_loss": 7.79871697886847e-06, + "chamfer": 6.157026291475631e-06, + "track": 1.6416910284533515e-06, + "acceleration": 8.190974654098682e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.476893526676577e-06, + "observation_loss": 8.134117706504185e-06, + "chamfer": 6.4017103795777075e-06, + "track": 1.7324072132396395e-06, + "acceleration": 3.427757917506824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.871606951288413e-06, + "observation_loss": 8.606764822616242e-06, + "chamfer": 6.726455922034802e-06, + "track": 1.8803087868946022e-06, + "acceleration": 2.6484198656362423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.2774262157036e-06, + "observation_loss": 9.163636605080683e-06, + "chamfer": 7.105193617462646e-06, + "track": 2.058442760244361e-06, + "acceleration": 1.1378956799035223e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.549175047141034e-06, + "observation_loss": 9.46315958572086e-06, + "chamfer": 7.30702640794334e-06, + "track": 2.1561336325248703e-06, + "acceleration": 8.601539747132847e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.940441486833151e-06, + "observation_loss": 9.670122381066903e-06, + "chamfer": 7.447509233315941e-06, + "track": 2.222613375124638e-06, + "acceleration": 2.703190489228291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0036673302238341e-05, + "observation_loss": 9.868743291008286e-06, + "chamfer": 7.557831850135699e-06, + "track": 2.3109116682462627e-06, + "acceleration": 1.6793023860373069e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0083855158882216e-05, + "observation_loss": 9.969589882530272e-06, + "chamfer": 7.6138917393109296e-06, + "track": 2.355697915845667e-06, + "acceleration": 1.1426545398762755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0193853995588142e-05, + "observation_loss": 9.873117960523814e-06, + "chamfer": 7.550746431661537e-06, + "track": 2.3223717562359525e-06, + "acceleration": 3.2073583611236245e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0421643310110085e-05, + "observation_loss": 9.626059181755409e-06, + "chamfer": 7.401628863590304e-06, + "track": 2.224430318165105e-06, + "acceleration": 7.95583730450744e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.001615783025045e-05, + "observation_loss": 9.538004633213859e-06, + "chamfer": 7.334325800911756e-06, + "track": 2.2036790596757783e-06, + "acceleration": 4.781532538800093e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.685392797109671e-06, + "observation_loss": 9.478255378780887e-06, + "chamfer": 7.292780992429471e-06, + "track": 2.1854741589777404e-06, + "acceleration": 2.0713743253963912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.609656444808934e-06, + "observation_loss": 9.322173355030827e-06, + "chamfer": 7.180170086940052e-06, + "track": 2.1420032680907752e-06, + "acceleration": 2.8748300451297837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 1.002502267510863e-05, + "observation_loss": 9.246622539649252e-06, + "chamfer": 7.113828360161278e-06, + "track": 2.132793952114298e-06, + "acceleration": 7.783998512422841e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2763083759637084e-05, + "observation_loss": 9.453728125663474e-06, + "chamfer": 7.24530355000752e-06, + "track": 2.208424120908603e-06, + "acceleration": 3.309355861347285e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.250785862794146e-05, + "observation_loss": 9.707694516691845e-06, + "chamfer": 7.412057584588183e-06, + "track": 2.2956371594773373e-06, + "acceleration": 2.8001641112496145e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0486942301213276e-05, + "observation_loss": 9.600327757652849e-06, + "chamfer": 7.33682099962607e-06, + "track": 2.263506303279428e-06, + "acceleration": 8.866142024999135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0354070582252461e-05, + "observation_loss": 9.723963557917159e-06, + "chamfer": 7.4143990786978975e-06, + "track": 2.3095644792192616e-06, + "acceleration": 6.301066264313704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0083695997309405e-05, + "observation_loss": 9.853690244199242e-06, + "chamfer": 7.490366897400236e-06, + "track": 2.3633231194253312e-06, + "acceleration": 2.3000575311016291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0104435204993933e-05, + "observation_loss": 1.0028627002611756e-05, + "chamfer": 7.5797784120368306e-06, + "track": 2.448848817948601e-06, + "acceleration": 7.580775474025359e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0335166734876111e-05, + "observation_loss": 1.0215297152171843e-05, + "chamfer": 7.674038897675928e-06, + "track": 2.5412584818695905e-06, + "acceleration": 1.1986992376478156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0558671419858001e-05, + "observation_loss": 1.0482393008715007e-05, + "chamfer": 7.847115739423316e-06, + "track": 2.635277496665367e-06, + "acceleration": 7.627858877867766e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0924050002358854e-05, + "observation_loss": 1.0818614100571722e-05, + "chamfer": 8.07347441877937e-06, + "track": 2.7451401365397032e-06, + "acceleration": 1.0543627837478198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1155957508890424e-05, + "observation_loss": 1.1062111298087984e-05, + "chamfer": 8.237239853770006e-06, + "track": 2.8248712169443024e-06, + "acceleration": 9.384595500705473e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1239727427891921e-05, + "observation_loss": 1.1153225386806298e-05, + "chamfer": 8.28083011583658e-06, + "track": 2.8723952709697187e-06, + "acceleration": 8.650246741126466e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1364318197593093e-05, + "observation_loss": 1.1231605640205089e-05, + "chamfer": 8.332084689754993e-06, + "track": 2.899520723076421e-06, + "acceleration": 1.327128131833888e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1466727301012725e-05, + "observation_loss": 1.1317928510834463e-05, + "chamfer": 8.37493826111313e-06, + "track": 2.9429907044686843e-06, + "acceleration": 1.4879894649766356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1392099622753449e-05, + "observation_loss": 1.1325557352392934e-05, + "chamfer": 8.367333975911606e-06, + "track": 2.958223376481328e-06, + "acceleration": 6.654193640542871e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1537844329723157e-05, + "observation_loss": 1.1333038855809718e-05, + "chamfer": 8.373954187845811e-06, + "track": 2.9590848953375826e-06, + "acceleration": 2.0480530338318204e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.15095490400563e-05, + "observation_loss": 1.1404592441977002e-05, + "chamfer": 8.409771908191033e-06, + "track": 2.9948203064122936e-06, + "acceleration": 1.0495665492271655e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1573294614208862e-05, + "observation_loss": 1.1482450645416975e-05, + "chamfer": 8.44323767523747e-06, + "track": 3.0392134249268565e-06, + "acceleration": 9.08438622104768e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1638003343250602e-05, + "observation_loss": 1.1543379514478147e-05, + "chamfer": 8.47830597194843e-06, + "track": 3.0650737699033925e-06, + "acceleration": 9.462417693839598e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1719153008016292e-05, + "observation_loss": 1.163315937446896e-05, + "chamfer": 8.527566933480557e-06, + "track": 3.105592440988403e-06, + "acceleration": 8.599388934271701e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1696943147398997e-05, + "observation_loss": 1.1588428606046364e-05, + "chamfer": 8.503359822498169e-06, + "track": 3.085068783548195e-06, + "acceleration": 1.0851431397895794e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1515149708429817e-05, + "observation_loss": 1.1423519936215598e-05, + "chamfer": 8.399922990065534e-06, + "track": 3.023596718776389e-06, + "acceleration": 9.162963010567182e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.262478843334975e-06, + "chamfer_mean": 5.679140739308271e-06, + "track_mean": 1.5576204705306889e-06, + "acceleration_mean": 1.025717640231368e-06, + "observation_score": 7.236761194443868e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4300919100005558 + }, + "score_arrays_file": "pass_scores/pass_end_0298.npz", + "score_arrays_sha256": "e77f1d3d38dfc51f41bfa74be733894db74dd62c025e32b9b35bc4b3ffafec5a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0299.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0299.json new file mode 100644 index 0000000000000000000000000000000000000000..73d0a2a48507382aaf131bc4fea31b62ac65ec42 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0299.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28704, + "completed_passes": 299, + "snapshot": "pass_end_0299", + "candidate": true, + "snapshot_arrays_sha256": "2dec269371eea69a59c2968e873ebed6291865e335eb7cff6298db8912a73cd9", + "score": 7.233364717270281e-06, + "score_result": { + "score": 7.233364717270281e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8735494197462685e-06, + 3.159038897138089e-06, + 3.290016593382461e-06, + 3.7225881897029467e-06, + 4.24413155997172e-06, + 4.4544644879351836e-06, + 4.216379693389172e-06, + 4.0815289139573e-06, + 4.022517714474816e-06, + 4.129903118155198e-06, + 4.509520749707008e-06, + 4.970075679011643e-06, + 5.277528543956578e-06, + 5.4855017879162915e-06, + 5.480914296640549e-06, + 5.372962732508313e-06, + 5.018455340177752e-06, + 4.63105970993638e-06, + 4.448817890079226e-06, + 4.426744908414548e-06, + 4.386407908896217e-06, + 4.29188594353036e-06, + 4.2436486182850786e-06, + 4.235968390275957e-06, + 4.240903308527777e-06, + 4.398668352223467e-06, + 4.7891853682813235e-06, + 5.062822310719639e-06, + 5.074258297099732e-06, + 5.037061782786623e-06, + 5.125378720549634e-06, + 5.2881960073136725e-06, + 5.51664970771526e-06, + 5.752234756073449e-06, + 5.834675448568305e-06, + 5.954788321105298e-06, + 6.207378646649886e-06, + 6.304840098891873e-06, + 5.991563739371486e-06, + 5.61872957405285e-06, + 5.61531851417385e-06, + 5.892383342143148e-06, + 6.076052613934735e-06, + 6.262579972826643e-06, + 6.343143013509689e-06, + 6.39162135485094e-06, + 6.529247002617922e-06, + 6.994288469286403e-06, + 7.621853001182899e-06, + 8.021537723834626e-06, + 7.873574759287294e-06, + 7.611676664964762e-06, + 7.383252523140982e-06, + 7.188850304373773e-06, + 7.165894203353673e-06, + 7.204766461654799e-06, + 7.266305601660861e-06, + 7.325535989366472e-06, + 7.3877754402928986e-06, + 7.510298019042239e-06, + 7.654231922060717e-06, + 7.799931154295336e-06, + 8.135908501571976e-06, + 8.609373253420927e-06, + 9.166971722152084e-06, + 9.467117706662975e-06, + 9.674187822383828e-06, + 9.87275689112721e-06, + 9.973712622013409e-06, + 9.876889635052066e-06, + 9.629117812437471e-06, + 9.540444807498716e-06, + 9.480238077230752e-06, + 9.323200174549129e-06, + 9.247639354725834e-06, + 9.449348908674438e-06, + 9.700615919427946e-06, + 9.595865776645951e-06, + 9.717948159959633e-06, + 9.846407920122147e-06, + 1.0019350156653672e-05, + 1.020383024297189e-05, + 1.0469108929100912e-05, + 1.0804767043737229e-05, + 1.1046931831515394e-05, + 1.1137500223412644e-05, + 1.12155548777082e-05, + 1.1302661732770503e-05, + 1.13099449663423e-05, + 1.1317199096083641e-05, + 1.1388460734451655e-05, + 1.1466634532553144e-05, + 1.1527245078468695e-05, + 1.1616712072282098e-05, + 1.1571465620363597e-05, + 1.1406837074900977e-05 + ] + ], + "episode_mean_losses": [ + 7.233364717270281e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8735494197462685e-06, + "observation_loss": 2.8735494197462685e-06, + "chamfer": 2.4376497549383203e-06, + "track": 4.358996648079483e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.148204970988445e-05, + "observation_loss": 3.159038897138089e-06, + "chamfer": 2.671825086508761e-06, + "track": 4.872138106293278e-07, + "acceleration": 3.832301081274636e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3346896341536194e-05, + "observation_loss": 3.290016593382461e-06, + "chamfer": 2.7853309347847244e-06, + "track": 5.046856585977366e-07, + "acceleration": 2.0056879293406382e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0194479727942962e-05, + "observation_loss": 3.7225881897029467e-06, + "chamfer": 3.139230784654501e-06, + "track": 5.833574618918647e-07, + "acceleration": 6.4718915382400155e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.132533599156886e-06, + "observation_loss": 4.24413155997172e-06, + "chamfer": 3.5595874123828253e-06, + "track": 6.845440907454758e-07, + "acceleration": 1.888401811811491e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.628709459415404e-06, + "observation_loss": 4.4544644879351836e-06, + "chamfer": 3.727320745383622e-06, + "track": 7.271436288647237e-07, + "acceleration": 1.1742450851670583e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.907582024316071e-06, + "observation_loss": 4.216379693389172e-06, + "chamfer": 3.533520612108987e-06, + "track": 6.82859024436766e-07, + "acceleration": 6.912025014571554e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6055934035393875e-06, + "observation_loss": 4.0815289139573e-06, + "chamfer": 3.4260449410794536e-06, + "track": 6.554838023475895e-07, + "acceleration": 5.240646601123444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.482620170165319e-06, + "observation_loss": 4.022517714474816e-06, + "chamfer": 3.3811331832112046e-06, + "track": 6.41384644950449e-07, + "acceleration": 4.6010231358195597e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.4365888243191876e-06, + "observation_loss": 4.129903118155198e-06, + "chamfer": 3.4692795907176333e-06, + "track": 6.606236979678215e-07, + "acceleration": 3.066859051159554e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.638311565940967e-06, + "observation_loss": 4.509520749707008e-06, + "chamfer": 3.777965730478172e-06, + "track": 7.315550760722545e-07, + "acceleration": 1.2879094413165149e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.057114776718663e-06, + "observation_loss": 4.970075679011643e-06, + "chamfer": 4.147379968344467e-06, + "track": 8.22695767510595e-07, + "acceleration": 8.703905507445597e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.364803200791357e-06, + "observation_loss": 5.277528543956578e-06, + "chamfer": 4.399991667014547e-06, + "track": 8.775369906288688e-07, + "acceleration": 8.727459999136045e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.588942713075085e-06, + "observation_loss": 5.4855017879162915e-06, + "chamfer": 4.576834271574626e-06, + "track": 9.086675163416658e-07, + "acceleration": 1.0344073331225445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.539494395634392e-06, + "observation_loss": 5.480914296640549e-06, + "chamfer": 4.5767392293782905e-06, + "track": 9.041751241056772e-07, + "acceleration": 5.858015583726228e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.4924507821851876e-06, + "observation_loss": 5.372962732508313e-06, + "chamfer": 4.488677859626478e-06, + "track": 8.84284986568673e-07, + "acceleration": 1.1948802125516522e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.22238315170398e-06, + "observation_loss": 5.018455340177752e-06, + "chamfer": 4.198251644993434e-06, + "track": 8.202038088711561e-07, + "acceleration": 2.0392771205024474e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.932942374580307e-06, + "observation_loss": 4.63105970993638e-06, + "chamfer": 3.878188636008417e-06, + "track": 7.528713013016386e-07, + "acceleration": 3.018825509570888e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.624681878340198e-06, + "observation_loss": 4.448817890079226e-06, + "chamfer": 3.7255397273838753e-06, + "track": 7.232783900690265e-07, + "acceleration": 1.758640024718261e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.634642209566664e-06, + "observation_loss": 4.426744908414548e-06, + "chamfer": 3.7032893942523515e-06, + "track": 7.234553436319402e-07, + "acceleration": 2.0789718746527797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.667033408622956e-06, + "observation_loss": 4.386407908896217e-06, + "chamfer": 3.668346835183911e-06, + "track": 7.18061130555725e-07, + "acceleration": 2.8062538603990106e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.569093562167836e-06, + "observation_loss": 4.29188594353036e-06, + "chamfer": 3.59093610313721e-06, + "track": 7.009500109234068e-07, + "acceleration": 2.772076186374761e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.53406346423435e-06, + "observation_loss": 4.2436486182850786e-06, + "chamfer": 3.5566445149015635e-06, + "track": 6.870043307571905e-07, + "acceleration": 2.9041478910585283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.544421699392842e-06, + "observation_loss": 4.235968390275957e-06, + "chamfer": 3.546758307493292e-06, + "track": 6.892101396260841e-07, + "acceleration": 3.084532522734662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.551794972940115e-06, + "observation_loss": 4.240903308527777e-06, + "chamfer": 3.5348225537745748e-06, + "track": 7.060808684400399e-07, + "acceleration": 3.1089180652088544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.6784939513599966e-06, + "observation_loss": 4.398668352223467e-06, + "chamfer": 3.6462336083786795e-06, + "track": 7.524345164711121e-07, + "acceleration": 2.798256844016578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.157603482075501e-06, + "observation_loss": 4.7891853682813235e-06, + "chamfer": 3.941264822060475e-06, + "track": 8.479204893774295e-07, + "acceleration": 3.684181422158872e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.322984179656487e-06, + "observation_loss": 5.062822310719639e-06, + "chamfer": 4.151497705606744e-06, + "track": 9.11324775643152e-07, + "acceleration": 2.6016192578026676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.468557901622262e-06, + "observation_loss": 5.074258297099732e-06, + "chamfer": 4.16574675909942e-06, + "track": 9.085114811568928e-07, + "acceleration": 3.9429954767911113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2577033784473315e-06, + "observation_loss": 5.037061782786623e-06, + "chamfer": 4.146490482526133e-06, + "track": 8.905715276341652e-07, + "acceleration": 2.206415530281447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.429204975371249e-06, + "observation_loss": 5.125378720549634e-06, + "chamfer": 4.22438642999623e-06, + "track": 9.009922337099852e-07, + "acceleration": 3.0382631166503415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.809382855659351e-06, + "observation_loss": 5.2881960073136725e-06, + "chamfer": 4.354413249529898e-06, + "track": 9.337827577837743e-07, + "acceleration": 5.211869051890972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.1290443227335345e-06, + "observation_loss": 5.51664970771526e-06, + "chamfer": 4.535322204901604e-06, + "track": 9.813273891268182e-07, + "acceleration": 6.123945581748558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.457753897848306e-06, + "observation_loss": 5.752234756073449e-06, + "chamfer": 4.708292635768885e-06, + "track": 1.043942120304564e-06, + "acceleration": 7.055191986182763e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.478686373156961e-06, + "observation_loss": 5.834675448568305e-06, + "chamfer": 4.769136467075441e-06, + "track": 1.065538981492864e-06, + "acceleration": 6.440106972149806e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.471155757026281e-06, + "observation_loss": 5.954788321105298e-06, + "chamfer": 4.843961050937651e-06, + "track": 1.1108274975413224e-06, + "acceleration": 5.163673222341458e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.369986294885166e-06, + "observation_loss": 6.207378646649886e-06, + "chamfer": 5.024304755352205e-06, + "track": 1.1830737776108435e-06, + "acceleration": 1.626078756089555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.627680249948753e-06, + "observation_loss": 6.304840098891873e-06, + "chamfer": 5.107575361762429e-06, + "track": 1.197264850816282e-06, + "acceleration": 3.228401226351707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.151185061753495e-06, + "observation_loss": 5.991563739371486e-06, + "chamfer": 4.880770120507805e-06, + "track": 1.1107938462373568e-06, + "acceleration": 1.5962142185799166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.740990218328079e-06, + "observation_loss": 5.61872957405285e-06, + "chamfer": 4.591855940816458e-06, + "track": 1.0268735195495537e-06, + "acceleration": 1.2226047374497284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.876522209291579e-06, + "observation_loss": 5.61531851417385e-06, + "chamfer": 4.586800059769303e-06, + "track": 1.0285182270308724e-06, + "acceleration": 2.6120375196114765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.135644525784301e-06, + "observation_loss": 5.892383342143148e-06, + "chamfer": 4.788255409948761e-06, + "track": 1.104128159568063e-06, + "acceleration": 2.432610415326053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.204080818861257e-06, + "observation_loss": 6.076052613934735e-06, + "chamfer": 4.911948963126633e-06, + "track": 1.1641037644949392e-06, + "acceleration": 1.2802829019165074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.297226263995981e-06, + "observation_loss": 6.262579972826643e-06, + "chamfer": 5.048100319982041e-06, + "track": 1.21447976653144e-06, + "acceleration": 3.4646419067030365e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.42896702629514e-06, + "observation_loss": 6.343143013509689e-06, + "chamfer": 5.1051929403911345e-06, + "track": 1.2379500731185544e-06, + "acceleration": 8.582394883660527e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.544597908941796e-06, + "observation_loss": 6.39162135485094e-06, + "chamfer": 5.141273504705168e-06, + "track": 1.250347850145772e-06, + "acceleration": 1.5297676725367637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.7285041041031945e-06, + "observation_loss": 6.529247002617922e-06, + "chamfer": 5.249431524134707e-06, + "track": 1.2798152511095395e-06, + "acceleration": 1.992573146480936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1556792136107106e-06, + "observation_loss": 6.994288469286403e-06, + "chamfer": 5.5963732847885694e-06, + "track": 1.3979151844978333e-06, + "acceleration": 1.6139082958943618e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.765002919768449e-06, + "observation_loss": 7.621853001182899e-06, + "chamfer": 6.037224920873996e-06, + "track": 1.5846281939957407e-06, + "acceleration": 1.431498901638406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.308997166750487e-06, + "observation_loss": 8.021537723834626e-06, + "chamfer": 6.3234983826987445e-06, + "track": 1.6980392274490441e-06, + "acceleration": 2.874591871204757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.140437785186805e-06, + "observation_loss": 7.873574759287294e-06, + "chamfer": 6.226514869922539e-06, + "track": 1.6470601167384302e-06, + "acceleration": 2.668628269475448e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.865400220907759e-06, + "observation_loss": 7.611676664964762e-06, + "chamfer": 6.0488941926450934e-06, + "track": 1.5627826996933436e-06, + "acceleration": 2.5372327172590303e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.467618615919491e-06, + "observation_loss": 7.383252523140982e-06, + "chamfer": 5.879835953237489e-06, + "track": 1.5034164562166552e-06, + "acceleration": 8.436607146222741e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.24240499039297e-06, + "observation_loss": 7.188850304373773e-06, + "chamfer": 5.734094429499237e-06, + "track": 1.4547559885613737e-06, + "acceleration": 5.355476773161172e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.22908771422226e-06, + "observation_loss": 7.165894203353673e-06, + "chamfer": 5.7129195738525596e-06, + "track": 1.4529746295011137e-06, + "acceleration": 6.319358192286018e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.286610070877941e-06, + "observation_loss": 7.204766461654799e-06, + "chamfer": 5.733072157454444e-06, + "track": 1.4716941905135172e-06, + "acceleration": 8.184360211771491e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.310047294595279e-06, + "observation_loss": 7.266305601660861e-06, + "chamfer": 5.775902536697686e-06, + "track": 1.490403064963175e-06, + "acceleration": 4.374186701738836e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5299967647879384e-06, + "observation_loss": 7.325535989366472e-06, + "chamfer": 5.805448836326832e-06, + "track": 1.520087039352802e-06, + "acceleration": 2.0446067594548367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.867902240832336e-06, + "observation_loss": 7.3877754402928986e-06, + "chamfer": 5.854045866726665e-06, + "track": 1.5337295735662337e-06, + "acceleration": 4.801266868526e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.487571903970093e-06, + "observation_loss": 7.510298019042239e-06, + "chamfer": 5.931728537689196e-06, + "track": 1.5785694813530426e-06, + "acceleration": 9.772735438673408e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.057012903213035e-06, + "observation_loss": 7.654231922060717e-06, + "chamfer": 6.045695045031607e-06, + "track": 1.6085368770291097e-06, + "acceleration": 1.402780753778643e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.621605957159773e-06, + "observation_loss": 7.799931154295336e-06, + "chamfer": 6.157893494673772e-06, + "track": 1.6420374322478892e-06, + "acceleration": 8.216743481170852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.480231372232083e-06, + "observation_loss": 8.135908501571976e-06, + "chamfer": 6.402963663276751e-06, + "track": 1.7329450656689005e-06, + "acceleration": 3.4432321172062075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.875083949533291e-06, + "observation_loss": 8.609373253420927e-06, + "chamfer": 6.728287189616822e-06, + "track": 1.881085609056754e-06, + "acceleration": 2.657110371728777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.280621270590927e-06, + "observation_loss": 9.166971722152084e-06, + "chamfer": 7.1075437517720275e-06, + "track": 2.0594275156327058e-06, + "acceleration": 1.1364986107764707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.553053132549394e-06, + "observation_loss": 9.467117706662975e-06, + "chamfer": 7.309826287382748e-06, + "track": 2.1572914192802273e-06, + "acceleration": 8.593521272359794e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.94429319689516e-06, + "observation_loss": 9.674187822383828e-06, + "chamfer": 7.4505028351268265e-06, + "track": 2.223684532509651e-06, + "acceleration": 2.7010531766791246e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0040313100034837e-05, + "observation_loss": 9.87275689112721e-06, + "chamfer": 7.560760877822759e-06, + "track": 2.311995785930776e-06, + "acceleration": 1.6755646470301144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0087903319799807e-05, + "observation_loss": 9.973712622013409e-06, + "chamfer": 7.616947641508887e-06, + "track": 2.3567652078781975e-06, + "acceleration": 1.1419056278327844e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.019713090499863e-05, + "observation_loss": 9.876889635052066e-06, + "chamfer": 7.5535276664595585e-06, + "track": 2.3233617412188323e-06, + "acceleration": 3.2024169627220544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0424530046293512e-05, + "observation_loss": 9.629117812437471e-06, + "chamfer": 7.403859854093753e-06, + "track": 2.225257958343718e-06, + "acceleration": 7.954124612297164e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.001911823550472e-05, + "observation_loss": 9.540444807498716e-06, + "chamfer": 7.336142061831197e-06, + "track": 2.204302745667519e-06, + "acceleration": 4.786733143191668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.688197678769939e-06, + "observation_loss": 9.480238077230752e-06, + "chamfer": 7.294292117876466e-06, + "track": 2.185946414101636e-06, + "acceleration": 2.0795974364773429e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.607435458747204e-06, + "observation_loss": 9.323200174549129e-06, + "chamfer": 7.180894499470014e-06, + "track": 2.1423056750791147e-06, + "acceleration": 2.84235710523717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.997776032832917e-06, + "observation_loss": 9.247639354725834e-06, + "chamfer": 7.1150657277030405e-06, + "track": 2.1325736270227935e-06, + "acceleration": 7.501363938899885e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2783772035618313e-05, + "observation_loss": 9.449348908674438e-06, + "chamfer": 7.2419502430420835e-06, + "track": 2.2073984382586787e-06, + "acceleration": 3.3344228995701997e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2513741239672527e-05, + "observation_loss": 9.700615919427946e-06, + "chamfer": 7.406812073895708e-06, + "track": 2.293803618158563e-06, + "acceleration": 2.8131248654972296e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0474153896211646e-05, + "observation_loss": 9.595865776645951e-06, + "chamfer": 7.333679150178796e-06, + "track": 2.26218639909348e-06, + "acceleration": 8.782878353486012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0369566552981269e-05, + "observation_loss": 9.717948159959633e-06, + "chamfer": 7.4100494202866685e-06, + "track": 2.307898512299289e-06, + "acceleration": 6.516180519611225e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0087541340908501e-05, + "observation_loss": 9.846407920122147e-06, + "chamfer": 7.485520654881839e-06, + "track": 2.3608877199876588e-06, + "acceleration": 2.411330513041321e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0098920029122382e-05, + "observation_loss": 1.0019350156653672e-05, + "chamfer": 7.573967650387203e-06, + "track": 2.44538296101382e-06, + "acceleration": 7.956974457101751e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0325617040507495e-05, + "observation_loss": 1.020383024297189e-05, + "chamfer": 7.666959390917327e-06, + "track": 2.5368713068019133e-06, + "acceleration": 1.21786385420819e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0545547411311418e-05, + "observation_loss": 1.0469108929100912e-05, + "chamfer": 7.838977580831852e-06, + "track": 2.6301313482690603e-06, + "acceleration": 7.643818378255673e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.090938167180866e-05, + "observation_loss": 1.0804767043737229e-05, + "chamfer": 8.065294423431624e-06, + "track": 2.7394726203056052e-06, + "acceleration": 1.046144220140377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1140451533719897e-05, + "observation_loss": 1.1046931831515394e-05, + "chamfer": 8.228273145505227e-06, + "track": 2.818659140757518e-06, + "acceleration": 9.352007168672571e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1224002264498267e-05, + "observation_loss": 1.1137500223412644e-05, + "chamfer": 8.271531442005653e-06, + "track": 2.8659685540333157e-06, + "acceleration": 8.650226845929865e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1347709914844017e-05, + "observation_loss": 1.12155548777082e-05, + "chamfer": 8.32263413030887e-06, + "track": 2.89292074739933e-06, + "acceleration": 1.3215509397923597e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1450322745076846e-05, + "observation_loss": 1.1302661732770503e-05, + "chamfer": 8.36614071886288e-06, + "track": 2.9365214686549734e-06, + "acceleration": 1.476605717698476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1376706424925942e-05, + "observation_loss": 1.13099449663423e-05, + "chamfer": 8.358339982805774e-06, + "track": 2.9516045287891757e-06, + "acceleration": 6.676119568282957e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1523425200721249e-05, + "observation_loss": 1.1317199096083641e-05, + "chamfer": 8.364675522898324e-06, + "track": 2.9525238005589927e-06, + "acceleration": 2.062259767399155e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1494409591250587e-05, + "observation_loss": 1.1388460734451655e-05, + "chamfer": 8.40033135318663e-06, + "track": 2.988129608638701e-06, + "acceleration": 1.059492689137187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1558103324205149e-05, + "observation_loss": 1.1466634532553144e-05, + "chamfer": 8.434122719336301e-06, + "track": 3.032512040590518e-06, + "acceleration": 9.146885560085138e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.162189892056631e-05, + "observation_loss": 1.1527245078468695e-05, + "chamfer": 8.469027307000943e-06, + "track": 3.058217316720402e-06, + "acceleration": 9.465357209137437e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1703007658070419e-05, + "observation_loss": 1.1616712072282098e-05, + "chamfer": 8.518168215232436e-06, + "track": 3.0985434023023117e-06, + "acceleration": 8.629535130921795e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1680263014568482e-05, + "observation_loss": 1.1571465620363597e-05, + "chamfer": 8.4935772974859e-06, + "track": 3.077888550251373e-06, + "acceleration": 1.0879779210881679e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.149824311141856e-05, + "observation_loss": 1.1406837074900977e-05, + "chamfer": 8.390172297367826e-06, + "track": 3.0166643227858003e-06, + "acceleration": 9.140626389125828e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.261214385167174e-06, + "chamfer_mean": 5.676953174808356e-06, + "track_mean": 1.5564115519358286e-06, + "acceleration_mean": 1.0278496419176737e-06, + "observation_score": 7.233364717270281e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.432514041000104 + }, + "score_arrays_file": "pass_scores/pass_end_0299.npz", + "score_arrays_sha256": "16cf799687b1965e0db024b4a2860667cd7a8739beb252cb61ed9f8fea866dfb" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0300.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0300.json new file mode 100644 index 0000000000000000000000000000000000000000..f5a3bbf62e617d4a74c03784b7be0b4703d3895d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0300.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28800, + "completed_passes": 300, + "snapshot": "pass_end_0300", + "candidate": true, + "snapshot_arrays_sha256": "9244f3e5830bd0c1a603bcda2a90596a9df687261b44d5c747e10d339a5e6738", + "score": 7.230246159413885e-06, + "score_result": { + "score": 7.230246159413885e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8734273200825555e-06, + 3.158856770824059e-06, + 3.288309471827233e-06, + 3.7207901186775416e-06, + 4.241976057528518e-06, + 4.452705525181955e-06, + 4.2140695768466685e-06, + 4.078393885720288e-06, + 4.019644165964564e-06, + 4.127107331441948e-06, + 4.506952791416552e-06, + 4.96747861689073e-06, + 5.274977411318105e-06, + 5.483159839059226e-06, + 5.478940693137702e-06, + 5.370792223402532e-06, + 5.016249360778602e-06, + 4.628485839930363e-06, + 4.446163075044751e-06, + 4.424595317686908e-06, + 4.383734449220356e-06, + 4.28857720180531e-06, + 4.2393762669235e-06, + 4.232156697980827e-06, + 4.238307155901566e-06, + 4.397446900838986e-06, + 4.788387741427869e-06, + 5.062465788796544e-06, + 5.072243766335305e-06, + 5.034640707890503e-06, + 5.124768904352095e-06, + 5.289610271574929e-06, + 5.520237664313754e-06, + 5.755789970862679e-06, + 5.837142907694215e-06, + 5.95743676967686e-06, + 6.20848368271254e-06, + 6.306198883976322e-06, + 5.992507340124575e-06, + 5.616700491373194e-06, + 5.611918368231272e-06, + 5.88860348216258e-06, + 6.072131782275392e-06, + 6.2589328990725335e-06, + 6.339438186842017e-06, + 6.388433575921226e-06, + 6.526511242554989e-06, + 6.991300324443728e-06, + 7.618599738634657e-06, + 8.018042535695713e-06, + 7.870260560594033e-06, + 7.609217391291168e-06, + 7.381491741398349e-06, + 7.187809387687594e-06, + 7.165391707530944e-06, + 7.204300800367491e-06, + 7.265891326824203e-06, + 7.325361821131082e-06, + 7.387614459730685e-06, + 7.5102270784555e-06, + 7.65395179769257e-06, + 7.799433660693467e-06, + 8.135532880260143e-06, + 8.609858923591673e-06, + 9.16848330234643e-06, + 9.469476026424672e-06, + 9.677409252617508e-06, + 9.876166586764157e-06, + 9.977176887332462e-06, + 9.880347533908207e-06, + 9.63215461524669e-06, + 9.543299711367581e-06, + 9.482851965003647e-06, + 9.325226528744679e-06, + 9.250166840502061e-06, + 9.447179763810709e-06, + 9.69666780292755e-06, + 9.594026778358966e-06, + 9.714035513752606e-06, + 9.841579412750434e-06, + 1.00122333606123e-05, + 1.019441697280854e-05, + 1.0457129064889159e-05, + 1.0792487955768593e-05, + 1.103280737879686e-05, + 1.1122571777377743e-05, + 1.1200277185707819e-05, + 1.1288616406091023e-05, + 1.1295487638562918e-05, + 1.1302596249151975e-05, + 1.1373848792572971e-05, + 1.1452450053184293e-05, + 1.1512500350363553e-05, + 1.160201554739615e-05, + 1.1556420759006869e-05, + 1.1391978659958113e-05 + ] + ], + "episode_mean_losses": [ + 7.230246159413885e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8734273200825555e-06, + "observation_loss": 2.8734273200825555e-06, + "chamfer": 2.4375390239583794e-06, + "track": 4.35888352967595e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.147852087044157e-05, + "observation_loss": 3.158856770824059e-06, + "chamfer": 2.671665015441249e-06, + "track": 4.871917553828098e-07, + "acceleration": 3.8319663872243837e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3332358978223056e-05, + "observation_loss": 3.288309471827233e-06, + "chamfer": 2.7839109861815814e-06, + "track": 5.043985993324895e-07, + "acceleration": 2.0044049961143173e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0188492524321191e-05, + "observation_loss": 3.7207901186775416e-06, + "chamfer": 3.1377387585962424e-06, + "track": 5.830514169247181e-07, + "acceleration": 6.467702405643649e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.116122676758096e-06, + "observation_loss": 4.241976057528518e-06, + "chamfer": 3.5578202641772805e-06, + "track": 6.841557365078188e-07, + "acceleration": 1.8741465055427398e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.622428034257609e-06, + "observation_loss": 4.452705525181955e-06, + "chamfer": 3.7258712382026715e-06, + "track": 7.268343438227021e-07, + "acceleration": 1.1697225090756547e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.902489763480844e-06, + "observation_loss": 4.2140695768466685e-06, + "chamfer": 3.531607262630132e-06, + "track": 6.824621436862799e-07, + "acceleration": 6.884200161039189e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6041077439440414e-06, + "observation_loss": 4.078393885720288e-06, + "chamfer": 3.4234403756272513e-06, + "track": 6.54953510093037e-07, + "acceleration": 5.257140855974285e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.480144980334444e-06, + "observation_loss": 4.019644165964564e-06, + "chamfer": 3.3787543998187175e-06, + "track": 6.408898798326845e-07, + "acceleration": 4.6050072910475137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.433263711689506e-06, + "observation_loss": 4.127107331441948e-06, + "chamfer": 3.466958105491358e-06, + "track": 6.601491691071715e-07, + "acceleration": 3.06156607621233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.635864115698496e-06, + "observation_loss": 4.506952791416552e-06, + "chamfer": 3.7758425150968833e-06, + "track": 7.311104468499252e-07, + "acceleration": 1.2891125322767039e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.054706889495719e-06, + "observation_loss": 4.96747861689073e-06, + "chamfer": 4.145253114984371e-06, + "track": 8.222254450629407e-07, + "acceleration": 8.722841471353604e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.36234756509657e-06, + "observation_loss": 5.274977411318105e-06, + "chamfer": 4.3979175643471535e-06, + "track": 8.7705990381437e-07, + "acceleration": 8.73701822001749e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.58665760763688e-06, + "observation_loss": 5.483159839059226e-06, + "chamfer": 4.574938884616131e-06, + "track": 9.082209544430953e-07, + "acceleration": 1.0349762646910676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.537464403460035e-06, + "observation_loss": 5.478940693137702e-06, + "chamfer": 4.575150796881644e-06, + "track": 9.037897825692198e-07, + "acceleration": 5.8523898616158476e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.490684088726994e-06, + "observation_loss": 5.370792223402532e-06, + "chamfer": 4.486914804147091e-06, + "track": 8.838774760988599e-07, + "acceleration": 1.198917516376241e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.220686489337822e-06, + "observation_loss": 5.016249360778602e-06, + "chamfer": 4.196457211946836e-06, + "track": 8.197920351449284e-07, + "acceleration": 2.0443698645067343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.9307413974020164e-06, + "observation_loss": 4.628485839930363e-06, + "chamfer": 3.87609179597348e-06, + "track": 7.523941008003021e-07, + "acceleration": 3.0225555747165345e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.621317202690989e-06, + "observation_loss": 4.446163075044751e-06, + "chamfer": 3.7233428429317428e-06, + "track": 7.228201752695895e-07, + "acceleration": 1.7515407080281875e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.632002855942119e-06, + "observation_loss": 4.424595317686908e-06, + "chamfer": 3.7015161069575697e-06, + "track": 7.230791538859194e-07, + "acceleration": 2.0740736772495438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.664316293201409e-06, + "observation_loss": 4.383734449220356e-06, + "chamfer": 3.6661447211372433e-06, + "track": 7.175895575528557e-07, + "acceleration": 2.805820713547291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.5650476749869995e-06, + "observation_loss": 4.28857720180531e-06, + "chamfer": 3.588218305594637e-06, + "track": 7.003587825238355e-07, + "acceleration": 2.764703026514326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5348592720984016e-06, + "observation_loss": 4.2393762669235e-06, + "chamfer": 3.5531311368686147e-06, + "track": 6.862451300548855e-07, + "acceleration": 2.9548320412686735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.553457984002307e-06, + "observation_loss": 4.232156697980827e-06, + "chamfer": 3.543603952493868e-06, + "track": 6.885527454869589e-07, + "acceleration": 3.2130148497344635e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.557189640763681e-06, + "observation_loss": 4.238307155901566e-06, + "chamfer": 3.5326606848684605e-06, + "track": 7.056464141896868e-07, + "acceleration": 3.188827122357907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.67922427560552e-06, + "observation_loss": 4.397446900838986e-06, + "chamfer": 3.645220203907229e-06, + "track": 7.522266400883382e-07, + "acceleration": 2.8177751687508135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.155380677024368e-06, + "observation_loss": 4.788387741427869e-06, + "chamfer": 3.940603164664935e-06, + "track": 8.477843493892578e-07, + "acceleration": 3.669927366445336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.321886874298798e-06, + "observation_loss": 5.062465788796544e-06, + "chamfer": 4.151160737819737e-06, + "track": 9.113052783504827e-07, + "acceleration": 2.5942119918909157e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.463064553623553e-06, + "observation_loss": 5.072243766335305e-06, + "chamfer": 4.164087840763386e-06, + "track": 9.081558687284996e-07, + "acceleration": 3.908205883362825e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2541186050802935e-06, + "observation_loss": 5.034640707890503e-06, + "chamfer": 4.144547801843146e-06, + "track": 8.900926786736818e-07, + "acceleration": 2.1947771244867909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.4268161875370424e-06, + "observation_loss": 5.124768904352095e-06, + "chamfer": 4.223896212351974e-06, + "track": 9.008725783132832e-07, + "acceleration": 3.0204745371520403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.8208147493132856e-06, + "observation_loss": 5.289610271574929e-06, + "chamfer": 4.355601049610414e-06, + "track": 9.340092788079346e-07, + "acceleration": 5.312046482686128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.165835202409653e-06, + "observation_loss": 5.520237664313754e-06, + "chamfer": 4.538286248134682e-06, + "track": 9.819515298659098e-07, + "acceleration": 6.455974812524801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.483540346380323e-06, + "observation_loss": 5.755789970862679e-06, + "chamfer": 4.711297151516192e-06, + "track": 1.044493046720163e-06, + "acceleration": 7.277506028913194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.504553766717436e-06, + "observation_loss": 5.837142907694215e-06, + "chamfer": 4.771335170516977e-06, + "track": 1.0658076234904001e-06, + "acceleration": 6.674110295534774e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.511409992526751e-06, + "observation_loss": 5.95743676967686e-06, + "chamfer": 4.8461929509358015e-06, + "track": 1.1112437050542212e-06, + "acceleration": 5.539733365367283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.369913990056375e-06, + "observation_loss": 6.20848368271254e-06, + "chamfer": 5.025059635954676e-06, + "track": 1.1834238193841884e-06, + "acceleration": 1.614301936569973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.644372206210392e-06, + "observation_loss": 6.306198883976322e-06, + "chamfer": 5.108418008603621e-06, + "track": 1.1977811027463758e-06, + "acceleration": 3.381731801255228e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.152134574222146e-06, + "observation_loss": 5.992507340124575e-06, + "chamfer": 4.881336280959658e-06, + "track": 1.1111711728517548e-06, + "acceleration": 1.5962703514560417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.742164375988068e-06, + "observation_loss": 5.616700491373194e-06, + "chamfer": 4.590155185724143e-06, + "track": 1.0265454193358892e-06, + "acceleration": 1.2546401251256611e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.876508566871053e-06, + "observation_loss": 5.611918368231272e-06, + "chamfer": 4.58403883385472e-06, + "track": 1.0278795343765523e-06, + "acceleration": 2.6459017021807085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.136688625701936e-06, + "observation_loss": 5.88860348216258e-06, + "chamfer": 4.785214969160734e-06, + "track": 1.1033882856281707e-06, + "acceleration": 2.480850014308089e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.2036315284785815e-06, + "observation_loss": 6.072131782275392e-06, + "chamfer": 4.9088239393313415e-06, + "track": 1.1633077292572125e-06, + "acceleration": 1.3149997357686516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.293363639997551e-06, + "observation_loss": 6.2589328990725335e-06, + "chamfer": 5.045200850872789e-06, + "track": 1.2137319345129072e-06, + "acceleration": 3.4430563289333804e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.425169885915238e-06, + "observation_loss": 6.339438186842017e-06, + "chamfer": 5.102245268062688e-06, + "track": 1.2371930324661662e-06, + "acceleration": 8.57315711755291e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.541657512570964e-06, + "observation_loss": 6.388433575921226e-06, + "chamfer": 5.138744199939538e-06, + "track": 1.2496894896685262e-06, + "acceleration": 1.5322392243888316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.7245391619508155e-06, + "observation_loss": 6.526511242554989e-06, + "chamfer": 5.247278295428259e-06, + "track": 1.2792331745004049e-06, + "acceleration": 1.9802801887180976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.152707894420018e-06, + "observation_loss": 6.991300324443728e-06, + "chamfer": 5.594116828433471e-06, + "track": 1.3971836096970947e-06, + "acceleration": 1.6140737102432468e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.762046152492985e-06, + "observation_loss": 7.618599738634657e-06, + "chamfer": 6.034822490619263e-06, + "track": 1.583777020641719e-06, + "acceleration": 1.43446115430379e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.306099516630638e-06, + "observation_loss": 8.018042535695713e-06, + "chamfer": 6.321050477708923e-06, + "track": 1.6969923990473035e-06, + "acceleration": 2.880566398744122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.137984877976123e-06, + "observation_loss": 7.870260560594033e-06, + "chamfer": 6.224202024895931e-06, + "track": 1.646058876758616e-06, + "acceleration": 2.6772391947815777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.863382052164525e-06, + "observation_loss": 7.609217391291168e-06, + "chamfer": 6.047172064427286e-06, + "track": 1.5620452131770435e-06, + "acceleration": 2.541644903431006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.465794624295086e-06, + "observation_loss": 7.381491741398349e-06, + "chamfer": 5.878537194803357e-06, + "track": 1.5029547739686677e-06, + "acceleration": 8.430298947814663e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.241540970426286e-06, + "observation_loss": 7.187809387687594e-06, + "chamfer": 5.7333309086970985e-06, + "track": 1.4544784789904952e-06, + "acceleration": 5.373162181854241e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.228717095131287e-06, + "observation_loss": 7.165391707530944e-06, + "chamfer": 5.712583970307605e-06, + "track": 1.4528077372233383e-06, + "acceleration": 6.33255012871814e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.286399977601832e-06, + "observation_loss": 7.204300800367491e-06, + "chamfer": 5.732716999773402e-06, + "track": 1.4715836869072518e-06, + "acceleration": 8.209908486378481e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.309600277949357e-06, + "observation_loss": 7.265891326824203e-06, + "chamfer": 5.775590580014978e-06, + "track": 1.4903008604960633e-06, + "acceleration": 4.3709121655410854e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.530149559897836e-06, + "observation_loss": 7.325361821131082e-06, + "chamfer": 5.805342880194075e-06, + "track": 1.5200188272501691e-06, + "acceleration": 2.0478755402564275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.867593012633733e-06, + "observation_loss": 7.387614459730685e-06, + "chamfer": 5.853906259289943e-06, + "track": 1.5337083141275798e-06, + "acceleration": 4.799781549991167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.4866524048266e-06, + "observation_loss": 7.5102270784555e-06, + "chamfer": 5.9316980696166866e-06, + "track": 1.578528895151976e-06, + "acceleration": 9.764249853105866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.056808266905136e-06, + "observation_loss": 7.65395179769257e-06, + "chamfer": 6.045464942872059e-06, + "track": 1.6084871958810254e-06, + "acceleration": 1.4028563555257278e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.622045243100729e-06, + "observation_loss": 7.799433660693467e-06, + "chamfer": 6.157480129331816e-06, + "track": 1.6419533039879752e-06, + "acceleration": 8.226118097809376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.480760698148515e-06, + "observation_loss": 8.135532880260143e-06, + "chamfer": 6.402609869837761e-06, + "track": 1.7329230104223825e-06, + "acceleration": 3.452275052495679e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.87667374627199e-06, + "observation_loss": 8.609858923591673e-06, + "chamfer": 6.72856322125881e-06, + "track": 1.8812955886460259e-06, + "acceleration": 2.668147374151886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.28242843656335e-06, + "observation_loss": 9.16848330234643e-06, + "chamfer": 7.108627869456541e-06, + "track": 2.059854978142539e-06, + "acceleration": 1.1394531185260348e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.555411452311091e-06, + "observation_loss": 9.469476026424672e-06, + "chamfer": 7.311603440030012e-06, + "track": 2.15787258639466e-06, + "acceleration": 8.593574563064976e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.947560101863928e-06, + "observation_loss": 9.677409252617508e-06, + "chamfer": 7.452975296473596e-06, + "track": 2.224433501396561e-06, + "acceleration": 2.7015073555958224e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0044084774563089e-05, + "observation_loss": 9.876166586764157e-06, + "chamfer": 7.563312465208583e-06, + "track": 2.312854576302925e-06, + "acceleration": 1.6791774726243602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.009152674669167e-05, + "observation_loss": 9.977176887332462e-06, + "chamfer": 7.619577445439063e-06, + "track": 2.357599669267074e-06, + "acceleration": 1.1435022173600373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0199925782217178e-05, + "observation_loss": 9.880347533908207e-06, + "chamfer": 7.556133368780138e-06, + "track": 2.324214165128069e-06, + "acceleration": 3.195779640918772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0427502274978906e-05, + "observation_loss": 9.63215461524669e-06, + "chamfer": 7.40611540095415e-06, + "track": 2.226039214292541e-06, + "acceleration": 7.953480007927283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0022253263741732e-05, + "observation_loss": 9.543299711367581e-06, + "chamfer": 7.338254363276064e-06, + "track": 2.2050453480915166e-06, + "acceleration": 4.789539502780826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.69168650044594e-06, + "observation_loss": 9.482851965003647e-06, + "chamfer": 7.296220246644225e-06, + "track": 2.186632173106773e-06, + "acceleration": 2.0883420859263424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.605526429368183e-06, + "observation_loss": 9.325226528744679e-06, + "chamfer": 7.182276476669358e-06, + "track": 2.1429498247016454e-06, + "acceleration": 2.802998153583758e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.972430234483909e-06, + "observation_loss": 9.250166840502061e-06, + "chamfer": 7.117266704881331e-06, + "track": 2.132900590368081e-06, + "acceleration": 7.222635645121045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2802287528757006e-05, + "observation_loss": 9.447179763810709e-06, + "chamfer": 7.240038485178957e-06, + "track": 2.2071408238844015e-06, + "acceleration": 3.355107310198946e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2519682059064507e-05, + "observation_loss": 9.69666780292755e-06, + "chamfer": 7.40365840101731e-06, + "track": 2.2930096292839153e-06, + "acceleration": 2.8230142561369576e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0465019840921741e-05, + "observation_loss": 9.594026778358966e-06, + "chamfer": 7.332276254601311e-06, + "track": 2.2617502963839797e-06, + "acceleration": 8.709926646588428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0390740499133244e-05, + "observation_loss": 9.714035513752606e-06, + "chamfer": 7.407115390378749e-06, + "track": 2.3069198960001813e-06, + "acceleration": 6.767046443201252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.009510197036434e-05, + "observation_loss": 9.841579412750434e-06, + "chamfer": 7.4823410614044406e-06, + "track": 2.359238578719669e-06, + "acceleration": 2.535221597099735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.00959023257019e-05, + "observation_loss": 1.00122333606123e-05, + "chamfer": 7.569643457827624e-06, + "track": 2.442589675411e-06, + "acceleration": 8.366923509584012e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.031719057209557e-05, + "observation_loss": 1.019441697280854e-05, + "chamfer": 7.661285962967668e-06, + "track": 2.533131464588223e-06, + "acceleration": 1.2277328664822562e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0534408829698805e-05, + "observation_loss": 1.0457129064889159e-05, + "chamfer": 7.83167160989251e-06, + "track": 2.6254572276229737e-06, + "acceleration": 7.72799850778938e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0896504136326257e-05, + "observation_loss": 1.0792487955768593e-05, + "chamfer": 8.058227649598848e-06, + "track": 2.7342603061697446e-06, + "acceleration": 1.0401598160569847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1125856872240547e-05, + "observation_loss": 1.103280737879686e-05, + "chamfer": 8.220060408348218e-06, + "track": 2.8127467430749675e-06, + "acceleration": 9.304912396146392e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1209105650777929e-05, + "observation_loss": 1.1122571777377743e-05, + "chamfer": 8.262821211246774e-06, + "track": 2.859750793504645e-06, + "acceleration": 8.653383076762111e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1331324458296876e-05, + "observation_loss": 1.1200277185707819e-05, + "chamfer": 8.313674698001705e-06, + "track": 2.886602715079789e-06, + "acceleration": 1.3104732943247654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1434904990892392e-05, + "observation_loss": 1.1288616406091023e-05, + "chamfer": 8.358146260434296e-06, + "track": 2.9304701456567273e-06, + "acceleration": 1.4628840006025712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.136209539254196e-05, + "observation_loss": 1.1295487638562918e-05, + "chamfer": 8.350131793122273e-06, + "track": 2.945355390693294e-06, + "acceleration": 6.66082016209657e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1510789590829518e-05, + "observation_loss": 1.1302596249151975e-05, + "chamfer": 8.356221769645344e-06, + "track": 2.9463744795066305e-06, + "acceleration": 2.081930858821579e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.148104274761863e-05, + "observation_loss": 1.1373848792572971e-05, + "chamfer": 8.391844858124387e-06, + "track": 2.982003934448585e-06, + "acceleration": 1.071942890007449e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1544371773197781e-05, + "observation_loss": 1.1452450053184293e-05, + "chamfer": 8.426163731201086e-06, + "track": 3.0262860946095316e-06, + "acceleration": 9.192147842895793e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.160755618911935e-05, + "observation_loss": 1.1512500350363553e-05, + "chamfer": 8.460685421596281e-06, + "track": 3.0518151561409468e-06, + "acceleration": 9.505627929229377e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1688515769492369e-05, + "observation_loss": 1.160201554739615e-05, + "chamfer": 8.509999133821111e-06, + "track": 3.0920166409487138e-06, + "acceleration": 8.650064842186111e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1665589227050077e-05, + "observation_loss": 1.1556420759006869e-05, + "chamfer": 8.485102625854779e-06, + "track": 3.0713179057784146e-06, + "acceleration": 1.0916883042000336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1483693015179597e-05, + "observation_loss": 1.1391978659958113e-05, + "chamfer": 8.381759471376427e-06, + "track": 3.010219415955362e-06, + "acceleration": 9.171408521524427e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.25992151239537e-06, + "chamfer_mean": 5.674954744942322e-06, + "track_mean": 1.5552914168400396e-06, + "acceleration_mean": 1.0296753318132328e-06, + "observation_score": 7.230246159413885e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4159958250002092 + }, + "score_arrays_file": "pass_scores/pass_end_0300.npz", + "score_arrays_sha256": "88f65e3d8cf214e57daa2f1c530c8246d972f92f55b90e7b37ec75f919057f9f" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0301.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0301.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3c7056d0162833970f568f3da63e3901c56f68 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0301.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28896, + "completed_passes": 301, + "snapshot": "pass_end_0301", + "candidate": true, + "snapshot_arrays_sha256": "7a0812dec6b4abd12c3e4014fb408f47e7d5b0299e3f226a42a9932dfb6359e8", + "score": 7.226073885628163e-06, + "score_result": { + "score": 7.226073885628163e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.873315224860562e-06, + 3.1587062494509155e-06, + 3.2867112622625427e-06, + 3.71928626918816e-06, + 4.240030648361426e-06, + 4.450974756764481e-06, + 4.211843133816728e-06, + 4.075604465469951e-06, + 4.017017090518493e-06, + 4.124425686313771e-06, + 4.504437129071448e-06, + 4.9651107474346645e-06, + 5.273018359730486e-06, + 5.481480002345052e-06, + 5.4775955504737794e-06, + 5.369189238990657e-06, + 5.013893314753659e-06, + 4.626022928277962e-06, + 4.443475972948363e-06, + 4.422316123964265e-06, + 4.3812233343487605e-06, + 4.2850315367104486e-06, + 4.23501569457585e-06, + 4.227853423799388e-06, + 4.234595962770982e-06, + 4.395600171847036e-06, + 4.7872508730506524e-06, + 5.0614507927093655e-06, + 5.06948663314688e-06, + 5.031450200476684e-06, + 5.123065420775674e-06, + 5.29038516106084e-06, + 5.523423169506714e-06, + 5.7585766626289114e-06, + 5.839100595039781e-06, + 5.959744157735258e-06, + 6.2095350585877895e-06, + 6.307277544692624e-06, + 5.9932881413260475e-06, + 5.614640485873679e-06, + 5.60838270757813e-06, + 5.884970050828997e-06, + 6.068188667995855e-06, + 6.255112111830385e-06, + 6.33580793873989e-06, + 6.384983407770051e-06, + 6.522705916722771e-06, + 6.987343567743665e-06, + 7.614141850353917e-06, + 8.013606930035166e-06, + 7.865515726734884e-06, + 7.6049841482017655e-06, + 7.377894235105487e-06, + 7.184581136243651e-06, + 7.162330803112127e-06, + 7.2008956522040535e-06, + 7.262409781105816e-06, + 7.322054443648085e-06, + 7.384453056147322e-06, + 7.50741583033232e-06, + 7.65167351346463e-06, + 7.797333637427073e-06, + 8.133851224556565e-06, + 8.608731150161475e-06, + 9.16789849725319e-06, + 9.469472388445865e-06, + 9.677478374214843e-06, + 9.876645890471991e-06, + 9.978393791243434e-06, + 9.881533514999319e-06, + 9.632947694626637e-06, + 9.54364804783836e-06, + 9.482965651841369e-06, + 9.324277016276028e-06, + 9.249626600649208e-06, + 9.441971997148357e-06, + 9.689333637652453e-06, + 9.589395631337538e-06, + 9.707719073048793e-06, + 9.834343472903129e-06, + 1.0002758244809229e-05, + 1.0183503036387265e-05, + 1.0443951396155171e-05, + 1.0778908290376421e-05, + 1.1018198165402282e-05, + 1.110722678276943e-05, + 1.1184843970113434e-05, + 1.1274182725173887e-05, + 1.1280646504019387e-05, + 1.1287051165709272e-05, + 1.1357940820744261e-05, + 1.1436856766522396e-05, + 1.1496423212520313e-05, + 1.1585696483962238e-05, + 1.1539685146999545e-05, + 1.1375752364983782e-05 + ] + ], + "episode_mean_losses": [ + 7.226073885628163e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.873315224860562e-06, + "observation_loss": 2.873315224860562e-06, + "chamfer": 2.4374364784307545e-06, + "track": 4.358787464298075e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.147889922023751e-05, + "observation_loss": 3.1587062494509155e-06, + "chamfer": 2.671529045983334e-06, + "track": 4.871772603110003e-07, + "acceleration": 3.8320191379170865e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.332329677301459e-05, + "observation_loss": 3.2867112622625427e-06, + "chamfer": 2.7825819870486157e-06, + "track": 5.041293320573459e-07, + "acceleration": 2.003658482863102e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0185358405578882e-05, + "observation_loss": 3.71928626918816e-06, + "chamfer": 3.1364870665129274e-06, + "track": 5.827992026752327e-07, + "acceleration": 6.466072591138072e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.100329301261809e-06, + "observation_loss": 4.240030648361426e-06, + "chamfer": 3.556218871381134e-06, + "track": 6.838116064500355e-07, + "acceleration": 1.8602988802740583e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.616879661829444e-06, + "observation_loss": 4.450974756764481e-06, + "chamfer": 3.7244383293000283e-06, + "track": 7.265363137776149e-07, + "acceleration": 1.1659050187518005e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.897392500424758e-06, + "observation_loss": 4.211843133816728e-06, + "chamfer": 3.529750301822787e-06, + "track": 6.820929456807789e-07, + "acceleration": 6.855492529211915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.601673026627395e-06, + "observation_loss": 4.075604465469951e-06, + "chamfer": 3.4211182082799496e-06, + "track": 6.544863708768389e-07, + "acceleration": 5.260687316877011e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.477431957639055e-06, + "observation_loss": 4.017017090518493e-06, + "chamfer": 3.3765747957659187e-06, + "track": 6.4044252212625e-07, + "acceleration": 4.604146681685961e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.429993623489281e-06, + "observation_loss": 4.124425686313771e-06, + "chamfer": 3.4647296160983387e-06, + "track": 6.596962407456886e-07, + "acceleration": 3.0556813612747646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.6334039325302e-06, + "observation_loss": 4.504437129071448e-06, + "chamfer": 3.773760226977174e-06, + "track": 7.306770726245304e-07, + "acceleration": 1.2896667556105967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.0524026846687775e-06, + "observation_loss": 4.9651107474346645e-06, + "chamfer": 4.143305886827875e-06, + "track": 8.218049174502084e-07, + "acceleration": 8.729210776436958e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.360613158700289e-06, + "observation_loss": 5.273018359730486e-06, + "chamfer": 4.396313215693226e-06, + "track": 8.767052008806786e-07, + "acceleration": 8.759479186437602e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.5853943194961175e-06, + "observation_loss": 5.481480002345052e-06, + "chamfer": 4.573568276100559e-06, + "track": 9.079118399313302e-07, + "acceleration": 1.0391443083790364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.535972377401777e-06, + "observation_loss": 5.4775955504737794e-06, + "chamfer": 4.574063950713025e-06, + "track": 9.035318271344295e-07, + "acceleration": 5.8376844691565566e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.488729129865533e-06, + "observation_loss": 5.369189238990657e-06, + "chamfer": 4.4856183194497135e-06, + "track": 8.835710900712002e-07, + "acceleration": 1.1953999035085872e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.217885700403713e-06, + "observation_loss": 5.013893314753659e-06, + "chamfer": 4.194525899947621e-06, + "track": 8.193675284928759e-07, + "acceleration": 2.0399252775860077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.927856934955344e-06, + "observation_loss": 4.626022928277962e-06, + "chamfer": 3.874084995914018e-06, + "track": 7.519381597376196e-07, + "acceleration": 3.018339214122534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.617663762473967e-06, + "observation_loss": 4.443475972948363e-06, + "chamfer": 3.721115490407101e-06, + "track": 7.223606530715188e-07, + "acceleration": 1.741877184713303e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.629439445125172e-06, + "observation_loss": 4.422316123964265e-06, + "chamfer": 3.6996293601987418e-06, + "track": 7.226868774523609e-07, + "acceleration": 2.0712322168492392e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.661893399315886e-06, + "observation_loss": 4.3812233343487605e-06, + "chamfer": 3.6640687994804466e-06, + "track": 7.171543074946385e-07, + "acceleration": 2.8066989443686907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.561278274195502e-06, + "observation_loss": 4.2850315367104486e-06, + "chamfer": 3.585299282349297e-06, + "track": 6.997320838308951e-07, + "acceleration": 2.7624665221992473e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5350197979132645e-06, + "observation_loss": 4.23501569457585e-06, + "chamfer": 3.549536359059857e-06, + "track": 6.854795628896682e-07, + "acceleration": 3.00004131759124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.558813543553697e-06, + "observation_loss": 4.227853423799388e-06, + "chamfer": 3.540034185789409e-06, + "track": 6.878190106363036e-07, + "acceleration": 3.3096014817601827e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.559990429697791e-06, + "observation_loss": 4.234595962770982e-06, + "chamfer": 3.5295513498567743e-06, + "track": 7.050446129142074e-07, + "acceleration": 3.253942963965528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.678297045757063e-06, + "observation_loss": 4.395600171847036e-06, + "chamfer": 3.6436661048355745e-06, + "track": 7.519341806982993e-07, + "acceleration": 2.8269678864489833e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.1524198170227464e-06, + "observation_loss": 4.7872508730506524e-06, + "chamfer": 3.939644102501916e-06, + "track": 8.47606656861899e-07, + "acceleration": 3.651690576589317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.319810952642001e-06, + "observation_loss": 5.0614507927093655e-06, + "chamfer": 4.150274435232859e-06, + "track": 9.111763574765064e-07, + "acceleration": 2.5836007466750743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.456247890833765e-06, + "observation_loss": 5.06948663314688e-06, + "chamfer": 4.161818196735112e-06, + "track": 9.076686069420248e-07, + "acceleration": 3.867612576868851e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.249325113254599e-06, + "observation_loss": 5.031450200476684e-06, + "chamfer": 4.141983026784146e-06, + "track": 8.894671736925375e-07, + "acceleration": 2.1787514015159104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.423298716777936e-06, + "observation_loss": 5.123065420775674e-06, + "chamfer": 4.222546976961894e-06, + "track": 9.005183301269426e-07, + "acceleration": 3.002335233759368e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.827667337143794e-06, + "observation_loss": 5.29038516106084e-06, + "chamfer": 4.356305908004288e-06, + "track": 9.340794235868088e-07, + "acceleration": 5.372822329263727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.1961336541571654e-06, + "observation_loss": 5.523423169506714e-06, + "chamfer": 4.540953341347631e-06, + "track": 9.82469714472245e-07, + "acceleration": 6.727103141201951e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.499977644125465e-06, + "observation_loss": 5.7585766626289114e-06, + "chamfer": 4.7137968977040146e-06, + "track": 1.0447797649248969e-06, + "acceleration": 7.414008678097161e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.5292597355437465e-06, + "observation_loss": 5.839100595039781e-06, + "chamfer": 4.7731882659718394e-06, + "track": 1.0659125564416172e-06, + "acceleration": 6.901589699737087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.557863798661856e-06, + "observation_loss": 5.959744157735258e-06, + "chamfer": 4.848202479479369e-06, + "track": 1.1115414508822141e-06, + "acceleration": 5.981194703963411e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.3742099882801995e-06, + "observation_loss": 6.2095350585877895e-06, + "chamfer": 5.0258154260518495e-06, + "track": 1.1837194051622646e-06, + "acceleration": 1.646748017947175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.666324225079734e-06, + "observation_loss": 6.307277544692624e-06, + "chamfer": 5.1090460146951955e-06, + "track": 1.1982316436842666e-06, + "acceleration": 3.5904662354369066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.15373755863402e-06, + "observation_loss": 5.9932881413260475e-06, + "chamfer": 4.881809672951931e-06, + "track": 1.1114783546872786e-06, + "acceleration": 1.604495025731012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.74362729821587e-06, + "observation_loss": 5.614640485873679e-06, + "chamfer": 4.588423053064616e-06, + "track": 1.0262174328090623e-06, + "acceleration": 1.2898672707706282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.875602255400736e-06, + "observation_loss": 5.60838270757813e-06, + "chamfer": 4.581178927764995e-06, + "track": 1.027203779813135e-06, + "acceleration": 2.672195478226058e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.134229352028342e-06, + "observation_loss": 5.884970050828997e-06, + "chamfer": 4.78230458611506e-06, + "track": 1.102665351027099e-06, + "acceleration": 2.492594717296015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.201114047144074e-06, + "observation_loss": 6.068188667995855e-06, + "chamfer": 4.905693003820488e-06, + "track": 1.1624954368016915e-06, + "acceleration": 1.329254928350565e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.289867997111287e-06, + "observation_loss": 6.255112111830385e-06, + "chamfer": 5.042197699367534e-06, + "track": 1.2129145261496888e-06, + "acceleration": 3.475574672506809e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.421201305784052e-06, + "observation_loss": 6.33580793873989e-06, + "chamfer": 5.099362624605419e-06, + "track": 1.2364454278213088e-06, + "acceleration": 8.539329598988843e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.537196441058768e-06, + "observation_loss": 6.384983407770051e-06, + "chamfer": 5.135999799676938e-06, + "track": 1.2489837217799504e-06, + "acceleration": 1.5221303328871727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.7201131059846375e-06, + "observation_loss": 6.522705916722771e-06, + "chamfer": 5.244288331596181e-06, + "track": 1.27841758512659e-06, + "acceleration": 1.9740730294870446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1484701038571075e-06, + "observation_loss": 6.987343567743665e-06, + "chamfer": 5.591093213297427e-06, + "track": 1.3962504681330756e-06, + "acceleration": 1.6112660716771643e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.757585080980789e-06, + "observation_loss": 7.614141850353917e-06, + "chamfer": 6.031492830516072e-06, + "track": 1.5826491335246828e-06, + "acceleration": 1.4344281851208507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.301640264107846e-06, + "observation_loss": 8.013606930035166e-06, + "chamfer": 6.317884981399402e-06, + "track": 1.6957224033831153e-06, + "acceleration": 2.880335614463547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.133590199577156e-06, + "observation_loss": 7.865515726734884e-06, + "chamfer": 6.2207818700699136e-06, + "track": 1.644733629291295e-06, + "acceleration": 2.6807424546859693e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.859358447603881e-06, + "observation_loss": 7.6049841482017655e-06, + "chamfer": 6.044002020644257e-06, + "track": 1.560982013870671e-06, + "acceleration": 2.5437464046262903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.462469056918053e-06, + "observation_loss": 7.377894235105487e-06, + "chamfer": 5.875754141015932e-06, + "track": 1.5021402077763923e-06, + "acceleration": 8.457462996602771e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2382849793939386e-06, + "observation_loss": 7.184581136243651e-06, + "chamfer": 5.730788871005643e-06, + "track": 1.4537921515511698e-06, + "acceleration": 5.3703910651847764e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.225627086882014e-06, + "observation_loss": 7.162330803112127e-06, + "chamfer": 5.710173354600556e-06, + "track": 1.4521574485115707e-06, + "acceleration": 6.329629798074166e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.282689693965949e-06, + "observation_loss": 7.2008956522040535e-06, + "chamfer": 5.730005796067417e-06, + "track": 1.470889742449799e-06, + "acceleration": 8.179422650300694e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.306271982088219e-06, + "observation_loss": 7.262409781105816e-06, + "chamfer": 5.7728034335013945e-06, + "track": 1.4896061202307465e-06, + "acceleration": 4.386222940411244e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5274492701282725e-06, + "observation_loss": 7.322054443648085e-06, + "chamfer": 5.8026989790960215e-06, + "track": 1.5193554645520635e-06, + "acceleration": 2.0539479805847805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.866116902732756e-06, + "observation_loss": 7.384453056147322e-06, + "chamfer": 5.851354671904119e-06, + "track": 1.5330981568695279e-06, + "acceleration": 4.816635623683396e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.487092600262258e-06, + "observation_loss": 7.50741583033232e-06, + "chamfer": 5.929449343966553e-06, + "track": 1.5779667137394426e-06, + "acceleration": 9.79676769929938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.059324838744942e-06, + "observation_loss": 7.65167351346463e-06, + "chamfer": 6.043645953468513e-06, + "track": 1.6080272189356037e-06, + "acceleration": 1.4076516663408256e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.623364919913001e-06, + "observation_loss": 7.797333637427073e-06, + "chamfer": 6.1557916524179745e-06, + "track": 1.6415418713222607e-06, + "acceleration": 8.260312824859284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.480717951897532e-06, + "observation_loss": 8.133851224556565e-06, + "chamfer": 6.401222435670206e-06, + "track": 1.7326292436337098e-06, + "acceleration": 3.4686706840147963e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.87694568518782e-06, + "observation_loss": 8.608731150161475e-06, + "chamfer": 6.727583695465e-06, + "track": 1.8811469999491237e-06, + "acceleration": 2.6821493293027743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.28201825445285e-06, + "observation_loss": 9.16789849725319e-06, + "chamfer": 7.108059435267933e-06, + "track": 2.059839061985258e-06, + "acceleration": 1.1411980693765145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.555613360134885e-06, + "observation_loss": 9.469472388445865e-06, + "chamfer": 7.311529316211818e-06, + "track": 2.157942844860372e-06, + "acceleration": 8.614086510760899e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.948147635441273e-06, + "observation_loss": 9.677478374214843e-06, + "chamfer": 7.453043053828878e-06, + "track": 2.224435093012289e-06, + "acceleration": 2.706695170218154e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0044763257610612e-05, + "observation_loss": 9.876645890471991e-06, + "chamfer": 7.563731287518749e-06, + "track": 2.3129143755795667e-06, + "acceleration": 1.6811770819913363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0093027412949596e-05, + "observation_loss": 9.978393791243434e-06, + "chamfer": 7.620558790222276e-06, + "track": 2.357834546273807e-06, + "acceleration": 1.1463374960385408e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0201380064245313e-05, + "observation_loss": 9.881533514999319e-06, + "chamfer": 7.557036042271648e-06, + "track": 2.3244977001013467e-06, + "acceleration": 3.198463218723191e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.042905387294013e-05, + "observation_loss": 9.632947694626637e-06, + "chamfer": 7.406733857351355e-06, + "track": 2.2262138372752815e-06, + "acceleration": 7.961060077832371e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.00241350082797e-05, + "observation_loss": 9.54364804783836e-06, + "chamfer": 7.338609520957107e-06, + "track": 2.2050389816286042e-06, + "acceleration": 4.804871878150152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.692737876321189e-06, + "observation_loss": 9.482965651841369e-06, + "chamfer": 7.296416697499808e-06, + "track": 2.186548726967885e-06, + "acceleration": 2.0977202552785457e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.602185855328571e-06, + "observation_loss": 9.324277016276028e-06, + "chamfer": 7.18164665158838e-06, + "track": 2.142630592061323e-06, + "acceleration": 2.7790923695647507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.946168574970216e-06, + "observation_loss": 9.249626600649208e-06, + "chamfer": 7.117437689885264e-06, + "track": 2.132189138137619e-06, + "acceleration": 6.965423153815209e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2812409295293037e-05, + "observation_loss": 9.441971997148357e-06, + "chamfer": 7.236095825646771e-06, + "track": 2.205876626248937e-06, + "acceleration": 3.370437525518355e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2517955838120542e-05, + "observation_loss": 9.689333637652453e-06, + "chamfer": 7.398291927529499e-06, + "track": 2.2910419374966295e-06, + "acceleration": 2.8286226552154403e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0452557944518048e-05, + "observation_loss": 9.589395631337538e-06, + "chamfer": 7.329023901547771e-06, + "track": 2.2603721845371183e-06, + "acceleration": 8.631619152765779e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0408873095002491e-05, + "observation_loss": 9.707719073048793e-06, + "chamfer": 7.40257064535399e-06, + "track": 2.305148882442154e-06, + "acceleration": 7.011543630142114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0099446626554709e-05, + "observation_loss": 9.834343472903129e-06, + "chamfer": 7.4776007750188e-06, + "track": 2.3567424705106532e-06, + "acceleration": 2.6510281259106705e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0091076546814293e-05, + "observation_loss": 1.0002758244809229e-05, + "chamfer": 7.563751751149539e-06, + "track": 2.4390062662860146e-06, + "acceleration": 8.831828068878167e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0308286618965212e-05, + "observation_loss": 1.0183503036387265e-05, + "chamfer": 7.65461845730897e-06, + "track": 2.5288845790782943e-06, + "acceleration": 1.2478352573452867e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0520765499677509e-05, + "observation_loss": 1.0443951396155171e-05, + "chamfer": 7.823537089279853e-06, + "track": 2.620414761622669e-06, + "acceleration": 7.681452984797943e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0881365597015247e-05, + "observation_loss": 1.0778908290376421e-05, + "chamfer": 8.050283213378862e-06, + "track": 2.728624849623884e-06, + "acceleration": 1.0245768322647564e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1111413186881691e-05, + "observation_loss": 1.1018198165402282e-05, + "chamfer": 8.211526619561482e-06, + "track": 2.8066713184671244e-06, + "acceleration": 9.321487226543468e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1194381841050927e-05, + "observation_loss": 1.110722678276943e-05, + "chamfer": 8.253731721197255e-06, + "track": 2.853495288945851e-06, + "acceleration": 8.7154717220983e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1315718438709155e-05, + "observation_loss": 1.1184843970113434e-05, + "chamfer": 8.304481525556184e-06, + "track": 2.8803624445572495e-06, + "acceleration": 1.308744543848661e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1419999282225035e-05, + "observation_loss": 1.1274182725173887e-05, + "chamfer": 8.349858944711741e-06, + "track": 2.924323780462146e-06, + "acceleration": 1.45816670737986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.134753711085068e-05, + "observation_loss": 1.1280646504019387e-05, + "chamfer": 8.341593456862029e-06, + "track": 2.9390525924100075e-06, + "acceleration": 6.689030129791718e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.149771469499683e-05, + "observation_loss": 1.1287051165709272e-05, + "chamfer": 8.347056791535579e-06, + "track": 2.9399948289210442e-06, + "acceleration": 2.1066387034807121e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.14658423626679e-05, + "observation_loss": 1.1357940820744261e-05, + "chamfer": 8.38244341139216e-06, + "track": 2.9754974093521014e-06, + "acceleration": 1.0790190430043367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.15285811261856e-05, + "observation_loss": 1.1436856766522396e-05, + "chamfer": 8.417127901338972e-06, + "track": 3.0197286378097488e-06, + "acceleration": 9.172473625085331e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1590939720917959e-05, + "observation_loss": 1.1496423212520313e-05, + "chamfer": 8.451387657260057e-06, + "track": 3.0450353278865805e-06, + "acceleration": 9.451664340076604e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1671545507851988e-05, + "observation_loss": 1.1585696483962238e-05, + "chamfer": 8.500661351718009e-06, + "track": 3.085034904870554e-06, + "acceleration": 8.584946442624641e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1649079169728793e-05, + "observation_loss": 1.1539685146999545e-05, + "chamfer": 8.475396498397458e-06, + "track": 3.064288648602087e-06, + "acceleration": 1.0939388062070066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.14680997285177e-05, + "observation_loss": 1.1375752364983782e-05, + "chamfer": 8.372359843633603e-06, + "track": 3.003392521350179e-06, + "acceleration": 9.23470651059688e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.257586159743369e-06, + "chamfer_mean": 5.6721725840702675e-06, + "track_mean": 1.5539013157687502e-06, + "acceleration_mean": 1.031512291101618e-06, + "observation_score": 7.226073885628163e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4290892720000556 + }, + "score_arrays_file": "pass_scores/pass_end_0301.npz", + "score_arrays_sha256": "2259971061adec02c917ed49dee4ac418c4d399ca36e4ce31685b9203ffc130f" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0302.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0302.json new file mode 100644 index 0000000000000000000000000000000000000000..1624f30743039ecece91e0d25074ba7749b541c7 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0302.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 28992, + "completed_passes": 302, + "snapshot": "pass_end_0302", + "candidate": true, + "snapshot_arrays_sha256": "9e6499b34566fe030a462394a4edf53cad383834d5479b8b3b6bba3eb7834006", + "score": 7.222941839302166e-06, + "score_result": { + "score": 7.222941839302166e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8732097234751564e-06, + 3.1585359465680085e-06, + 3.2851578453119146e-06, + 3.717608251463389e-06, + 4.238138444634387e-06, + 4.44948136646417e-06, + 4.209909548080759e-06, + 4.073029685969232e-06, + 4.014587375422707e-06, + 4.121945949009387e-06, + 4.502274350670632e-06, + 4.963450010109227e-06, + 5.271564077702351e-06, + 5.480151230585761e-06, + 5.476386832015123e-06, + 5.367945050238632e-06, + 5.012347173760645e-06, + 4.624216671800241e-06, + 4.441470082383603e-06, + 4.420665845827898e-06, + 4.37946846432169e-06, + 4.282485861040186e-06, + 4.23095298174303e-06, + 4.22421226176084e-06, + 4.231519596942235e-06, + 4.394255029183114e-06, + 4.786988483829191e-06, + 5.0618550631043036e-06, + 5.068282462161733e-06, + 5.029381554777501e-06, + 5.121959929965669e-06, + 5.290976332616992e-06, + 5.525222150026821e-06, + 5.7594215832068585e-06, + 5.838929155288497e-06, + 5.960465841781115e-06, + 6.2095950852381065e-06, + 6.3076572587306146e-06, + 5.993292688799556e-06, + 5.612125278275926e-06, + 5.604843863693532e-06, + 5.881551260245033e-06, + 6.064668014005292e-06, + 6.251743798202369e-06, + 6.332526936603244e-06, + 6.382446827046806e-06, + 6.520460374304093e-06, + 6.985722393437754e-06, + 7.6125579653307796e-06, + 8.011549653019756e-06, + 7.862816346460022e-06, + 7.602955520269461e-06, + 7.37672144168755e-06, + 7.183805792010389e-06, + 7.161782377806958e-06, + 7.200160780485021e-06, + 7.2619122875039466e-06, + 7.321939392568311e-06, + 7.384660875686677e-06, + 7.508352155127795e-06, + 7.652854037587531e-06, + 7.799269951647148e-06, + 8.136779797496274e-06, + 8.612848432676401e-06, + 9.173178113996983e-06, + 9.475294064031914e-06, + 9.683646567282267e-06, + 9.882824997475836e-06, + 9.98465566226514e-06, + 9.887237865768839e-06, + 9.637907169235405e-06, + 9.547994523018133e-06, + 9.486364433541894e-06, + 9.32638158701593e-06, + 9.251861229131464e-06, + 9.437940207135398e-06, + 9.682787094789091e-06, + 9.585501175024547e-06, + 9.701780072646216e-06, + 9.827102985582314e-06, + 9.99300209514331e-06, + 1.0172208931180649e-05, + 1.043060819938546e-05, + 1.0764896615000907e-05, + 1.1002552128047682e-05, + 1.1090864063589834e-05, + 1.116805651690811e-05, + 1.1258152881055139e-05, + 1.1264194654359017e-05, + 1.1270311915723141e-05, + 1.1340573109919205e-05, + 1.1419944712542929e-05, + 1.1479394743219018e-05, + 1.1568444278964307e-05, + 1.1522133718244731e-05, + 1.1358567462593783e-05 + ] + ], + "episode_mean_losses": [ + 7.222941839302166e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8732097234751564e-06, + "observation_loss": 2.8732097234751564e-06, + "chamfer": 2.4373393898713402e-06, + "track": 4.358703336038161e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.147717481828295e-05, + "observation_loss": 3.1585359465680085e-06, + "chamfer": 2.6713785246101907e-06, + "track": 4.871575356446556e-07, + "acceleration": 3.831863796222024e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.331202085770201e-05, + "observation_loss": 3.2851578453119146e-06, + "chamfer": 2.78128891295637e-06, + "track": 5.038689323555445e-07, + "acceleration": 2.002686233026907e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0180941899307072e-05, + "observation_loss": 3.717608251463389e-06, + "chamfer": 3.135095084871864e-06, + "track": 5.825131665915251e-07, + "acceleration": 6.463333193096332e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.084907909098547e-06, + "observation_loss": 4.238138444634387e-06, + "chamfer": 3.554667273419909e-06, + "track": 6.834710575276404e-07, + "acceleration": 1.8467692370904842e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.611494088952895e-06, + "observation_loss": 4.44948136646417e-06, + "chamfer": 3.7232041449897224e-06, + "track": 7.262770509441907e-07, + "acceleration": 1.1620124951150501e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.8930473894870374e-06, + "observation_loss": 4.209909548080759e-06, + "chamfer": 3.5281411783216754e-06, + "track": 6.817685402893403e-07, + "acceleration": 6.831378414062783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.600755346473306e-06, + "observation_loss": 4.073029685969232e-06, + "chamfer": 3.41896907229966e-06, + "track": 6.540606136695715e-07, + "acceleration": 5.27725546817237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.475252808333607e-06, + "observation_loss": 4.014587375422707e-06, + "chamfer": 3.3745541259122547e-06, + "track": 6.400330789801956e-07, + "acceleration": 4.6066531922406284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.42701275460422e-06, + "observation_loss": 4.121945949009387e-06, + "chamfer": 3.4626589240360772e-06, + "track": 6.592870249733096e-07, + "acceleration": 3.0506677717312414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.631408955901861e-06, + "observation_loss": 4.502274350670632e-06, + "chamfer": 3.7719571537309093e-06, + "track": 7.303171400963038e-07, + "acceleration": 1.2913474733977637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.050991148891626e-06, + "observation_loss": 4.963450010109227e-06, + "chamfer": 4.141923000133829e-06, + "track": 8.215268962885602e-07, + "acceleration": 8.754121694209971e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.359353053790983e-06, + "observation_loss": 5.271564077702351e-06, + "chamfer": 4.395101314003114e-06, + "track": 8.764625931689807e-07, + "acceleration": 8.778901872119604e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.583769052464049e-06, + "observation_loss": 5.480151230585761e-06, + "chamfer": 4.572472334984923e-06, + "track": 9.076789524442574e-07, + "acceleration": 1.0361760161003986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.534793672268279e-06, + "observation_loss": 5.476386832015123e-06, + "chamfer": 4.57308669865597e-06, + "track": 9.033001333591528e-07, + "acceleration": 5.840663419576231e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.487855105457129e-06, + "observation_loss": 5.367945050238632e-06, + "chamfer": 4.484613327804254e-06, + "track": 8.833318929646339e-07, + "acceleration": 1.1990999837507843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.216962563281413e-06, + "observation_loss": 5.012347173760645e-06, + "chamfer": 4.193265340290964e-06, + "track": 8.190816629394249e-07, + "acceleration": 2.046154037316228e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.92658818984637e-06, + "observation_loss": 4.624216671800241e-06, + "chamfer": 3.87261889045476e-06, + "track": 7.515976108152245e-07, + "acceleration": 3.023716033112578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.615043508238159e-06, + "observation_loss": 4.441470082383603e-06, + "chamfer": 3.7194552078290144e-06, + "track": 7.220151019282639e-07, + "acceleration": 1.7357324111344496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.627091584552545e-06, + "observation_loss": 4.420665845827898e-06, + "chamfer": 3.698257160067442e-06, + "track": 7.224085152301996e-07, + "acceleration": 2.0642578135721124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6603859118476976e-06, + "observation_loss": 4.37946846432169e-06, + "chamfer": 3.6626067867473466e-06, + "track": 7.168615638875053e-07, + "acceleration": 2.8091730541746074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.558224645734299e-06, + "observation_loss": 4.282485861040186e-06, + "chamfer": 3.583199713830254e-06, + "track": 6.992859766796755e-07, + "acceleration": 2.757389552243694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.539700512395939e-06, + "observation_loss": 4.23095298174303e-06, + "chamfer": 3.5461944207781926e-06, + "track": 6.847587883385131e-07, + "acceleration": 3.087476159180369e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.576000719680451e-06, + "observation_loss": 4.22421226176084e-06, + "chamfer": 3.5370139812584966e-06, + "track": 6.871983941891813e-07, + "acceleration": 3.517884010761918e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.573945716401795e-06, + "observation_loss": 4.231519596942235e-06, + "chamfer": 3.52698930328188e-06, + "track": 7.045301799735171e-07, + "acceleration": 3.4242611945956014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.680583060689969e-06, + "observation_loss": 4.394255029183114e-06, + "chamfer": 3.64256607099378e-06, + "track": 7.516890150327526e-07, + "acceleration": 2.8632814519369276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.147859155840706e-06, + "observation_loss": 4.786988483829191e-06, + "chamfer": 3.939366706617875e-06, + "track": 8.476216066810593e-07, + "acceleration": 3.608707572766434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.319692718330771e-06, + "observation_loss": 5.0618550631043036e-06, + "chamfer": 4.150475433561951e-06, + "track": 9.113795726989338e-07, + "acceleration": 2.5783754153962946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.451574452308705e-06, + "observation_loss": 5.068282462161733e-06, + "chamfer": 4.160770004091319e-06, + "track": 9.075123443835764e-07, + "acceleration": 3.832921322555194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.245985448709689e-06, + "observation_loss": 5.029381554777501e-06, + "chamfer": 4.140299097343814e-06, + "track": 8.890824005902687e-07, + "acceleration": 2.1660410709500866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.418602540885331e-06, + "observation_loss": 5.121959929965669e-06, + "chamfer": 4.221662038617069e-06, + "track": 9.002980050354381e-07, + "acceleration": 2.966426677630807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.829600013385061e-06, + "observation_loss": 5.290976332616992e-06, + "chamfer": 4.35685069533065e-06, + "track": 9.34125523599505e-07, + "acceleration": 5.3862362392465e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.229794507817132e-06, + "observation_loss": 5.525222150026821e-06, + "chamfer": 4.54250221082475e-06, + "track": 9.827197118283948e-07, + "acceleration": 7.045723577903118e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.507249963760842e-06, + "observation_loss": 5.7594215832068585e-06, + "chamfer": 4.714784154202789e-06, + "track": 1.0446374290040694e-06, + "acceleration": 7.478283805539832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.550182661158033e-06, + "observation_loss": 5.838929155288497e-06, + "chamfer": 4.773407908942318e-06, + "track": 1.0655213600330171e-06, + "acceleration": 7.11253392182698e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.6203247115481645e-06, + "observation_loss": 5.960465841781115e-06, + "chamfer": 4.848941443924559e-06, + "track": 1.1115243978565559e-06, + "acceleration": 6.598590402973059e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.383420441125054e-06, + "observation_loss": 6.2095950852381065e-06, + "chamfer": 5.025802693126025e-06, + "track": 1.1837923921120819e-06, + "acceleration": 1.7382522798925493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.697316621284699e-06, + "observation_loss": 6.3076572587306146e-06, + "chamfer": 5.1091301429551095e-06, + "track": 1.1985270020886674e-06, + "acceleration": 3.896592772889562e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.153298727440415e-06, + "observation_loss": 5.993292688799556e-06, + "chamfer": 4.881640506937401e-06, + "track": 1.111652181862155e-06, + "acceleration": 1.6000599600829446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.744327609136235e-06, + "observation_loss": 5.612125278275926e-06, + "chamfer": 4.5863275772717316e-06, + "track": 1.0257975873173564e-06, + "acceleration": 1.322024161254376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.876457635167753e-06, + "observation_loss": 5.604843863693532e-06, + "chamfer": 4.578310836222954e-06, + "track": 1.0265330274705775e-06, + "acceleration": 2.716135725222557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.1341511354839895e-06, + "observation_loss": 5.881551260245033e-06, + "chamfer": 4.779537903232267e-06, + "track": 1.102013584386441e-06, + "acceleration": 2.526000741909229e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.200350071594585e-06, + "observation_loss": 6.064668014005292e-06, + "chamfer": 4.902865839540027e-06, + "track": 1.1618019470915897e-06, + "acceleration": 1.3568208601100196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.287039013841422e-06, + "observation_loss": 6.251743798202369e-06, + "chamfer": 5.039487859903602e-06, + "track": 1.2122561656724429e-06, + "acceleration": 3.5295027345227936e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.417585609597154e-06, + "observation_loss": 6.332526936603244e-06, + "chamfer": 5.096727818454383e-06, + "track": 1.2357992318356992e-06, + "acceleration": 8.505880799702936e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.53439656161936e-06, + "observation_loss": 6.382446827046806e-06, + "chamfer": 5.133954346092651e-06, + "track": 1.248492594640993e-06, + "acceleration": 1.5194959246400686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.716394636896439e-06, + "observation_loss": 6.520460374304093e-06, + "chamfer": 5.242486622591969e-06, + "track": 1.2779737517121248e-06, + "acceleration": 1.9593416311636247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1471004048362374e-06, + "observation_loss": 6.985722393437754e-06, + "chamfer": 5.589831744146068e-06, + "track": 1.395890535604849e-06, + "acceleration": 1.613779545550642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.756676495773718e-06, + "observation_loss": 7.6125579653307796e-06, + "chamfer": 6.030275471857749e-06, + "track": 1.582282720846706e-06, + "acceleration": 1.4411867255148536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.299248293042183e-06, + "observation_loss": 8.011549653019756e-06, + "chamfer": 6.316424332908355e-06, + "track": 1.6951257748587523e-06, + "acceleration": 2.87698583179008e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.131684808176942e-06, + "observation_loss": 7.862816346460022e-06, + "chamfer": 6.218860107765067e-06, + "track": 1.6439565797554678e-06, + "acceleration": 2.6886854698204843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.857948730816133e-06, + "observation_loss": 7.602955520269461e-06, + "chamfer": 6.042555924068438e-06, + "track": 1.5603993688273476e-06, + "acceleration": 2.549934663420572e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4618778853619006e-06, + "observation_loss": 7.37672144168755e-06, + "chamfer": 5.874852377019124e-06, + "track": 1.5018692920421017e-06, + "acceleration": 8.515629446037565e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2371594797004946e-06, + "observation_loss": 7.183805792010389e-06, + "chamfer": 5.730188149755122e-06, + "track": 1.4536176422552671e-06, + "acceleration": 5.3353733875383114e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.225004083011299e-06, + "observation_loss": 7.161782377806958e-06, + "chamfer": 5.70975453229039e-06, + "track": 1.4520279592034058e-06, + "acceleration": 6.322179757489721e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2815346356946975e-06, + "observation_loss": 7.200160780485021e-06, + "chamfer": 5.729418717237422e-06, + "track": 1.4707421769344364e-06, + "acceleration": 8.137368467941997e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.305764938791981e-06, + "observation_loss": 7.2619122875039466e-06, + "chamfer": 5.772422355221352e-06, + "track": 1.4894897049089195e-06, + "acceleration": 4.3852530495769315e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.52770984036033e-06, + "observation_loss": 7.321939392568311e-06, + "chamfer": 5.802593932457967e-06, + "track": 1.5193455737971817e-06, + "acceleration": 2.057704477920197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.86739110480994e-06, + "observation_loss": 7.384660875686677e-06, + "chamfer": 5.8514715419732966e-06, + "track": 1.5331894474002183e-06, + "acceleration": 4.827305701837759e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.489071660733316e-06, + "observation_loss": 7.508352155127795e-06, + "chamfer": 5.930158749833936e-06, + "track": 1.5781934052938595e-06, + "acceleration": 9.807192782318452e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.06245259102434e-06, + "observation_loss": 7.652854037587531e-06, + "chamfer": 6.044487690815004e-06, + "track": 1.6083666878330405e-06, + "acceleration": 1.4095982123762951e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.626946510048583e-06, + "observation_loss": 7.799269951647148e-06, + "chamfer": 6.157188636279898e-06, + "track": 1.6420808606198989e-06, + "acceleration": 8.276767857751111e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.484815225529019e-06, + "observation_loss": 8.136779797496274e-06, + "chamfer": 6.4032765294541605e-06, + "track": 1.7335033817289514e-06, + "acceleration": 3.480356554064201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.881991561793257e-06, + "observation_loss": 8.612848432676401e-06, + "chamfer": 6.7304149524716195e-06, + "track": 1.882433252831106e-06, + "acceleration": 2.691434417556593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.287575267080683e-06, + "observation_loss": 9.173178113996983e-06, + "chamfer": 7.111723789421376e-06, + "track": 2.061453869828256e-06, + "acceleration": 1.143975865147695e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.561719707562588e-06, + "observation_loss": 9.475294064031914e-06, + "chamfer": 7.315609309443971e-06, + "track": 2.1596845272142673e-06, + "acceleration": 8.642564353067428e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.954395864042453e-06, + "observation_loss": 9.683646567282267e-06, + "chamfer": 7.457493666152004e-06, + "track": 2.2261526737565873e-06, + "acceleration": 2.7074946729044314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0050884156953543e-05, + "observation_loss": 9.882824997475836e-06, + "chamfer": 7.568123692180961e-06, + "track": 2.314701305294875e-06, + "acceleration": 1.6805886104975798e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0099079190695193e-05, + "observation_loss": 9.98465566226514e-06, + "chamfer": 7.6250667007116135e-06, + "track": 2.3595887341798516e-06, + "acceleration": 1.1442382685800112e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0205819307884667e-05, + "observation_loss": 9.887237865768839e-06, + "chamfer": 7.561130587419029e-06, + "track": 2.3261072783498093e-06, + "acceleration": 3.185810726336058e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0433592251501977e-05, + "observation_loss": 9.637907169235405e-06, + "chamfer": 7.410259968310129e-06, + "track": 2.2276469735516002e-06, + "acceleration": 7.956853096402483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0028948963736184e-05, + "observation_loss": 9.547994523018133e-06, + "chamfer": 7.341753644141136e-06, + "track": 2.2062411062506726e-06, + "acceleration": 4.809543838746322e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.696810593595728e-06, + "observation_loss": 9.486364433541894e-06, + "chamfer": 7.298928721866105e-06, + "track": 2.1874354843021138e-06, + "acceleration": 2.1044652953605691e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.601662895875052e-06, + "observation_loss": 9.32638158701593e-06, + "chamfer": 7.183164598245639e-06, + "track": 2.1432172161439667e-06, + "acceleration": 2.7528091095518903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.921504897647537e-06, + "observation_loss": 9.251861229131464e-06, + "chamfer": 7.119558631529799e-06, + "track": 2.1323028249753406e-06, + "acceleration": 6.696436685160734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.281701224797871e-05, + "observation_loss": 9.437940207135398e-06, + "chamfer": 7.232980806293199e-06, + "track": 2.2049596282158745e-06, + "acceleration": 3.379071586095961e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2515889466158114e-05, + "observation_loss": 9.682787094789091e-06, + "chamfer": 7.393410669465084e-06, + "track": 2.2893761979503324e-06, + "acceleration": 2.833101916621672e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0440546247991733e-05, + "observation_loss": 9.585501175024547e-06, + "chamfer": 7.32626358512789e-06, + "track": 2.2592380446440075e-06, + "acceleration": 8.550446182198357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0423597814224195e-05, + "observation_loss": 9.701780072646216e-06, + "chamfer": 7.398260549962288e-06, + "track": 2.303519522683928e-06, + "acceleration": 7.218176278911415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0102800843014847e-05, + "observation_loss": 9.827102985582314e-06, + "chamfer": 7.472763627447421e-06, + "track": 2.3543391307612183e-06, + "acceleration": 2.756974311068916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0085777830681764e-05, + "observation_loss": 9.99300209514331e-06, + "chamfer": 7.557466233265586e-06, + "track": 2.4355360892514e-06, + "acceleration": 9.277592027956416e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0298730558133684e-05, + "observation_loss": 1.0172208931180649e-05, + "chamfer": 7.647422535228543e-06, + "track": 2.524786623325781e-06, + "acceleration": 1.2652205327867705e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0506824764888734e-05, + "observation_loss": 1.043060819938546e-05, + "chamfer": 7.815018761903048e-06, + "track": 2.615589437482413e-06, + "acceleration": 7.621642339472601e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.086573138309177e-05, + "observation_loss": 1.0764896615000907e-05, + "chamfer": 8.04178216640139e-06, + "track": 2.7231144485995173e-06, + "acceleration": 1.0083464019317034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.109565346268937e-05, + "observation_loss": 1.1002552128047682e-05, + "chamfer": 8.201997843571007e-06, + "track": 2.8005545118503505e-06, + "acceleration": 9.310152648822623e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1178908607689664e-05, + "observation_loss": 1.1090864063589834e-05, + "chamfer": 8.243791853601579e-06, + "track": 2.8470724373619305e-06, + "acceleration": 8.804475015722346e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1298347999399994e-05, + "observation_loss": 1.116805651690811e-05, + "chamfer": 8.294205144920852e-06, + "track": 2.8738515993609326e-06, + "acceleration": 1.3029134038333723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.140314452641178e-05, + "observation_loss": 1.1258152881055139e-05, + "chamfer": 8.34035745356232e-06, + "track": 2.9177958822401706e-06, + "acceleration": 1.4499185851946095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1331970199535135e-05, + "observation_loss": 1.1264194654359017e-05, + "chamfer": 8.331861863553058e-06, + "track": 2.9323330181796337e-06, + "acceleration": 6.777564465210162e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1483729394967668e-05, + "observation_loss": 1.1270311915723141e-05, + "chamfer": 8.33699232316576e-06, + "track": 2.933319592557382e-06, + "acceleration": 2.1341728029256046e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1449950761743821e-05, + "observation_loss": 1.1340573109919205e-05, + "chamfer": 8.371954208996613e-06, + "track": 2.9686186735489173e-06, + "acceleration": 1.0937759498119703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1512514902278781e-05, + "observation_loss": 1.1419944712542929e-05, + "chamfer": 8.407146196987014e-06, + "track": 3.0127985155559145e-06, + "acceleration": 9.256980604277487e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1574105883482844e-05, + "observation_loss": 1.1479394743219018e-05, + "chamfer": 8.441430509265047e-06, + "track": 3.0379637792066205e-06, + "acceleration": 9.471143158634732e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.165384855994489e-05, + "observation_loss": 1.1568444278964307e-05, + "chamfer": 8.490662366966717e-06, + "track": 3.0777821393712657e-06, + "acceleration": 8.540435203485686e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.163106117019197e-05, + "observation_loss": 1.1522133718244731e-05, + "chamfer": 8.465041901217774e-06, + "track": 3.0570922717743088e-06, + "acceleration": 1.089271322030072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1450657439127099e-05, + "observation_loss": 1.1358567462593783e-05, + "chamfer": 8.362208063772414e-06, + "track": 2.9963591714476934e-06, + "acceleration": 9.208967810536706e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.25657598587289e-06, + "chamfer_mean": 5.670145384328862e-06, + "track_mean": 1.5527964650393262e-06, + "acceleration_mean": 1.0336341068987547e-06, + "observation_score": 7.222941839302166e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4282955100006802 + }, + "score_arrays_file": "pass_scores/pass_end_0302.npz", + "score_arrays_sha256": "e9d609d746556bf6a1fd52f6fcc3239fe6da5dd0bf1ee5eb8931dcb2210c8b0d" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0303.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0303.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0a62d4237bd5eef8f73d9e2d94f3f554251a7e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0303.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29088, + "completed_passes": 303, + "snapshot": "pass_end_0303", + "candidate": true, + "snapshot_arrays_sha256": "fcd62e2c0b1ff85635f5dd564553e7c54a94368efcb669b2404744395619d68f", + "score": 7.218594023565099e-06, + "score_result": { + "score": 7.218594023565099e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8731319616781548e-06, + 3.158360186716891e-06, + 3.283568730694242e-06, + 3.7160916690481827e-06, + 4.236550012137741e-06, + 4.448311301530339e-06, + 4.208265181659954e-06, + 4.070620889251586e-06, + 4.012211320514325e-06, + 4.119463028473547e-06, + 4.500100203586044e-06, + 4.961524155078223e-06, + 5.270290785119869e-06, + 5.479187166201882e-06, + 5.47579520571162e-06, + 5.367113772081211e-06, + 5.011029770685127e-06, + 4.622388587449677e-06, + 4.439335953065893e-06, + 4.418911885295529e-06, + 4.377589903015178e-06, + 4.279879249224905e-06, + 4.2268184188287705e-06, + 4.220207301841583e-06, + 4.2279561967006885e-06, + 4.392179562273668e-06, + 4.786450972460443e-06, + 5.0609100981091615e-06, + 5.0655962695600465e-06, + 5.026029157306766e-06, + 5.119979050505208e-06, + 5.291042725730222e-06, + 5.526472705241758e-06, + 5.759637133451179e-06, + 5.838292963744607e-06, + 5.961103852314409e-06, + 6.210132596606854e-06, + 6.3081979533308186e-06, + 5.993887043587165e-06, + 5.609369054582203e-06, + 5.6011995184235275e-06, + 5.877936473552836e-06, + 6.0612060224229936e-06, + 6.248518275242532e-06, + 6.329340976662934e-06, + 6.3795091591600794e-06, + 6.517759175039828e-06, + 6.9836910370213445e-06, + 7.610832653881516e-06, + 8.009313205548096e-06, + 7.860205187171232e-06, + 7.6009509939467534e-06, + 7.375217137450818e-06, + 7.181981800385984e-06, + 7.159886990848463e-06, + 7.197893864940852e-06, + 7.259443464135984e-06, + 7.319746146094985e-06, + 7.382826879620552e-06, + 7.507088412239682e-06, + 7.651890882698353e-06, + 7.798638762324117e-06, + 8.13723909232067e-06, + 8.614570106146857e-06, + 9.17609031603206e-06, + 9.478893844061531e-06, + 9.68738277151715e-06, + 9.886778570944443e-06, + 9.988717465603258e-06, + 9.890697583614383e-06, + 9.639343261369504e-06, + 9.549107744533103e-06, + 9.486777344136499e-06, + 9.325287464889698e-06, + 9.25039694266161e-06, + 9.42888709687395e-06, + 9.670898180047516e-06, + 9.576578122505452e-06, + 9.691005288914312e-06, + 9.815695193537977e-06, + 9.980031791201327e-06, + 1.0158442819374613e-05, + 1.0414683856652118e-05, + 1.0748191925813444e-05, + 1.0984672371705528e-05, + 1.1072415873059072e-05, + 1.1149381862196606e-05, + 1.124036316468846e-05, + 1.12465395432082e-05, + 1.125180733652087e-05, + 1.132178476836998e-05, + 1.1401270057831425e-05, + 1.1460601854196284e-05, + 1.1549233022378758e-05, + 1.1502725101308897e-05, + 1.1339473530824762e-05 + ] + ], + "episode_mean_losses": [ + 7.218594023565099e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8731319616781548e-06, + "observation_loss": 2.8731319616781548e-06, + "chamfer": 2.437265493426821e-06, + "track": 4.3586655351646186e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1477502236375585e-05, + "observation_loss": 3.158360186716891e-06, + "chamfer": 2.6712230010161875e-06, + "track": 4.871371857007034e-07, + "acceleration": 3.831914364127442e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3302000045077875e-05, + "observation_loss": 3.283568730694242e-06, + "chamfer": 2.779967417154694e-06, + "track": 5.036011998527101e-07, + "acceleration": 2.0018431314383633e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0176102477998938e-05, + "observation_loss": 3.7160916690481827e-06, + "chamfer": 3.1338370263256365e-06, + "track": 5.822546427225461e-07, + "acceleration": 6.460010808950756e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.069994924473576e-06, + "observation_loss": 4.236550012137741e-06, + "chamfer": 3.553358055796707e-06, + "track": 6.831918994976149e-07, + "acceleration": 1.8334450260226731e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.60677199246129e-06, + "observation_loss": 4.448311301530339e-06, + "chamfer": 3.7222280298010446e-06, + "track": 7.260833854161319e-07, + "acceleration": 1.1584609183046268e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.889619958703406e-06, + "observation_loss": 4.208265181659954e-06, + "chamfer": 3.5267619296064368e-06, + "track": 6.815031383666792e-07, + "acceleration": 6.813548907302902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.600805823429255e-06, + "observation_loss": 4.070620889251586e-06, + "chamfer": 3.4169584068877157e-06, + "track": 6.536622549901949e-07, + "acceleration": 5.301851047079253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.473880835575983e-06, + "observation_loss": 4.012211320514325e-06, + "chamfer": 3.3725796129147056e-06, + "track": 6.396316507562005e-07, + "acceleration": 4.6166965717020503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.424403414304834e-06, + "observation_loss": 4.119463028473547e-06, + "chamfer": 3.4605870951054385e-06, + "track": 6.588761038983648e-07, + "acceleration": 3.0494030056615884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.629373506759293e-06, + "observation_loss": 4.500100203586044e-06, + "chamfer": 3.7701433939218987e-06, + "track": 7.299566959773074e-07, + "acceleration": 1.2927314685384772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.049224455433432e-06, + "observation_loss": 4.961524155078223e-06, + "chamfer": 4.140320925216656e-06, + "track": 8.212031730181479e-07, + "acceleration": 8.770021509008075e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.358147973311134e-06, + "observation_loss": 5.270290785119869e-06, + "chamfer": 4.394038569444092e-06, + "track": 8.762522725191957e-07, + "acceleration": 8.785729477267523e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.5829391385486815e-06, + "observation_loss": 5.479187166201882e-06, + "chamfer": 4.571678346110275e-06, + "track": 9.075089906218636e-07, + "acceleration": 1.0375175918397872e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.534423507924657e-06, + "observation_loss": 5.47579520571162e-06, + "chamfer": 4.572611942421645e-06, + "track": 9.031833201333939e-07, + "acceleration": 5.8628124577353447e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.487302132678451e-06, + "observation_loss": 5.367113772081211e-06, + "chamfer": 4.483943030209048e-06, + "track": 8.831707987155824e-07, + "acceleration": 1.2018857376006054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.215760211285669e-06, + "observation_loss": 5.011029770685127e-06, + "chamfer": 4.192177584627643e-06, + "track": 8.188520723706461e-07, + "acceleration": 2.0473022743772162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.92504386784276e-06, + "observation_loss": 4.622388587449677e-06, + "chamfer": 3.871135049848817e-06, + "track": 7.512533670706034e-07, + "acceleration": 3.0265536565821094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.612457360053668e-06, + "observation_loss": 4.439335953065893e-06, + "chamfer": 3.717684194270987e-06, + "track": 7.216516451080679e-07, + "acceleration": 1.731213927769204e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.62480102214613e-06, + "observation_loss": 4.418911885295529e-06, + "chamfer": 3.6967974210710963e-06, + "track": 7.22114293694176e-07, + "acceleration": 2.058890800071822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.658674242818961e-06, + "observation_loss": 4.377589903015178e-06, + "chamfer": 3.6610422284866218e-06, + "track": 7.165475039982994e-07, + "acceleration": 2.810844250689115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.555703526420984e-06, + "observation_loss": 4.279879249224905e-06, + "chamfer": 3.581041028155596e-06, + "track": 6.988382210693089e-07, + "acceleration": 2.758244761480455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.543925570033025e-06, + "observation_loss": 4.2268184188287705e-06, + "chamfer": 3.5427865441306494e-06, + "track": 6.840319883849588e-07, + "acceleration": 3.171070943608356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.598521172738401e-06, + "observation_loss": 4.220207301841583e-06, + "chamfer": 3.533680683176499e-06, + "track": 6.865265049782465e-07, + "acceleration": 3.7831370036656153e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.5924120968265925e-06, + "observation_loss": 4.2279561967006885e-06, + "chamfer": 3.524019575706916e-06, + "track": 7.039366778371914e-07, + "acceleration": 3.644557864390663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.685470230469946e-06, + "observation_loss": 4.392179562273668e-06, + "chamfer": 3.640871682364377e-06, + "track": 7.513078799092909e-07, + "acceleration": 2.93290753461406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.1436477406241465e-06, + "observation_loss": 4.786450972460443e-06, + "chamfer": 3.938826466765022e-06, + "track": 8.476245056954212e-07, + "acceleration": 3.571967681637034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.31787645741133e-06, + "observation_loss": 5.0609100981091615e-06, + "chamfer": 4.14958731198567e-06, + "track": 9.113228998103295e-07, + "acceleration": 2.56966245615331e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.446515388030093e-06, + "observation_loss": 5.0655962695600465e-06, + "chamfer": 4.158545380050782e-06, + "track": 9.07051060039521e-07, + "acceleration": 3.8091911847004667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.240609425527509e-06, + "observation_loss": 5.026029157306766e-06, + "chamfer": 4.137581527174916e-06, + "track": 8.884477438186877e-07, + "acceleration": 2.1458005505792244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.4092288337415084e-06, + "observation_loss": 5.119979050505208e-06, + "chamfer": 4.220086793793598e-06, + "track": 8.998921430247719e-07, + "acceleration": 2.8924958428433456e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.814649739477318e-06, + "observation_loss": 5.291042725730222e-06, + "chamfer": 4.356990757514723e-06, + "track": 9.340517408418236e-07, + "acceleration": 5.236071274339338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.2356780290429015e-06, + "observation_loss": 5.526472705241758e-06, + "chamfer": 4.543664999800967e-06, + "track": 9.828077054407913e-07, + "acceleration": 7.092052101143054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.499190476461081e-06, + "observation_loss": 5.759637133451179e-06, + "chamfer": 4.715375780506292e-06, + "track": 1.0442613529448863e-06, + "acceleration": 7.395534566967399e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.5634490056254435e-06, + "observation_loss": 5.838292963744607e-06, + "chamfer": 4.773397449753247e-06, + "track": 1.0648952866176842e-06, + "acceleration": 7.25155928193999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.667494744760916e-06, + "observation_loss": 5.961103852314409e-06, + "chamfer": 4.849674496654188e-06, + "track": 1.111429583033896e-06, + "acceleration": 7.063907219162502e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.401940936484607e-06, + "observation_loss": 6.210132596606854e-06, + "chamfer": 5.026191502111033e-06, + "track": 1.1839413218694972e-06, + "acceleration": 1.9180829724518844e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.7296978158992715e-06, + "observation_loss": 6.3081979533308186e-06, + "chamfer": 5.109355242893798e-06, + "track": 1.1988427104370203e-06, + "acceleration": 4.215000046770001e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.153627964522457e-06, + "observation_loss": 5.993887043587165e-06, + "chamfer": 4.881994755123742e-06, + "track": 1.111892288463423e-06, + "acceleration": 1.597410062004201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.745004273194354e-06, + "observation_loss": 5.609369054582203e-06, + "chamfer": 4.584073849400738e-06, + "track": 1.0252953188683023e-06, + "acceleration": 1.356351049253135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.876277100469451e-06, + "observation_loss": 5.6011995184235275e-06, + "chamfer": 4.575390448735561e-06, + "track": 1.0258088423142908e-06, + "acceleration": 2.750777525761805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.133483566372888e-06, + "observation_loss": 5.877936473552836e-06, + "chamfer": 4.77661023978726e-06, + "track": 1.101326233765576e-06, + "acceleration": 2.555471212417615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.198218216013629e-06, + "observation_loss": 6.0612060224229936e-06, + "chamfer": 4.900110980088357e-06, + "track": 1.1610950423346367e-06, + "acceleration": 1.3701236412089202e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2846470427757595e-06, + "observation_loss": 6.248518275242532e-06, + "chamfer": 5.036915808886988e-06, + "track": 1.2116025800423813e-06, + "acceleration": 3.612863253010801e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.414393283193931e-06, + "observation_loss": 6.329340976662934e-06, + "chamfer": 5.094167590868892e-06, + "track": 1.235173272107204e-06, + "acceleration": 8.505228521471508e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.531372491735965e-06, + "observation_loss": 6.3795091591600794e-06, + "chamfer": 5.131595116836252e-06, + "track": 1.2479140423238277e-06, + "acceleration": 1.5186327573246672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.71383031658479e-06, + "observation_loss": 6.517759175039828e-06, + "chamfer": 5.240329301159363e-06, + "track": 1.2774296465067891e-06, + "acceleration": 1.9607116996667173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.145491508708801e-06, + "observation_loss": 6.9836910370213445e-06, + "chamfer": 5.5882264859974384e-06, + "track": 1.395464551023906e-06, + "acceleration": 1.6180035800061887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.755382284813095e-06, + "observation_loss": 7.610832653881516e-06, + "chamfer": 6.0289471548458096e-06, + "track": 1.5818856127225445e-06, + "acceleration": 1.4454997199209174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.296883606817573e-06, + "observation_loss": 8.009313205548096e-06, + "chamfer": 6.314801794360392e-06, + "track": 1.6945117522482178e-06, + "acceleration": 2.8757074232999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.130464266287163e-06, + "observation_loss": 7.860205187171232e-06, + "chamfer": 6.216959718585713e-06, + "track": 1.6432455822723568e-06, + "acceleration": 2.702594201764441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.855805051804055e-06, + "observation_loss": 7.6009509939467534e-06, + "chamfer": 6.041025699232705e-06, + "track": 1.5599251810272108e-06, + "acceleration": 2.5485385890533507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.460409506165888e-06, + "observation_loss": 7.375217137450818e-06, + "chamfer": 5.873625923413783e-06, + "track": 1.5015912140370347e-06, + "acceleration": 8.519226923908718e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.235308203235036e-06, + "observation_loss": 7.181981800385984e-06, + "chamfer": 5.7286893024866e-06, + "track": 1.453292611586221e-06, + "acceleration": 5.3326186133517695e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.223028205771698e-06, + "observation_loss": 7.159886990848463e-06, + "chamfer": 5.708207936550025e-06, + "track": 1.4516792816721136e-06, + "acceleration": 6.314129308293559e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2793877734511625e-06, + "observation_loss": 7.197893864940852e-06, + "chamfer": 5.727564257540507e-06, + "track": 1.4703297210871824e-06, + "acceleration": 8.149410746227659e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.30340480004088e-06, + "observation_loss": 7.259443464135984e-06, + "chamfer": 5.770413736172486e-06, + "track": 1.4890298416503356e-06, + "acceleration": 4.396154196228963e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.525757155235624e-06, + "observation_loss": 7.319746146094985e-06, + "chamfer": 5.8007722145703156e-06, + "track": 1.5189741588983452e-06, + "acceleration": 2.060107959778179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.867106432968285e-06, + "observation_loss": 7.382826879620552e-06, + "chamfer": 5.849879926245194e-06, + "track": 1.5329468396885204e-06, + "acceleration": 4.842794396608952e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.49151547299698e-06, + "observation_loss": 7.507088412239682e-06, + "chamfer": 5.929045528318966e-06, + "track": 1.5780427702338784e-06, + "acceleration": 9.844268333836226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.065032827493269e-06, + "observation_loss": 7.651890882698353e-06, + "chamfer": 6.04360366196488e-06, + "track": 1.6082869933597976e-06, + "acceleration": 1.413142172168591e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.628501745988615e-06, + "observation_loss": 7.798638762324117e-06, + "chamfer": 6.156526069389656e-06, + "track": 1.6421125792476232e-06, + "acceleration": 8.298633247250109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.486403203278314e-06, + "observation_loss": 8.13723909232067e-06, + "chamfer": 6.4033688431663904e-06, + "track": 1.733870249154279e-06, + "acceleration": 3.491637414754223e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.884360795491375e-06, + "observation_loss": 8.614570106146857e-06, + "chamfer": 6.731302164553199e-06, + "track": 1.8832679415936582e-06, + "acceleration": 2.6979114409186877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.290370144299231e-06, + "observation_loss": 9.17609031603206e-06, + "chamfer": 7.113488209142815e-06, + "track": 2.0626018795155687e-06, + "acceleration": 1.1427971458033426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.565092113916762e-06, + "observation_loss": 9.478893844061531e-06, + "chamfer": 7.317915333260316e-06, + "track": 2.1609785108012147e-06, + "acceleration": 8.619863933745364e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.958243026630953e-06, + "observation_loss": 9.68738277151715e-06, + "chamfer": 7.459990683855722e-06, + "track": 2.227391860287753e-06, + "acceleration": 2.7086016984867456e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0055313396151178e-05, + "observation_loss": 9.886778570944443e-06, + "chamfer": 7.570800335088279e-06, + "track": 2.3159782358561642e-06, + "acceleration": 1.6853499573699082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0103563909069635e-05, + "observation_loss": 9.988717465603258e-06, + "chamfer": 7.627893410244724e-06, + "track": 2.3608240553585347e-06, + "acceleration": 1.1484669215633403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0210215805273037e-05, + "observation_loss": 9.890697583614383e-06, + "chamfer": 7.56353665565257e-06, + "track": 2.3271611553354887e-06, + "acceleration": 3.195183069237828e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0436529919388704e-05, + "observation_loss": 9.639343261369504e-06, + "chamfer": 7.411193109874148e-06, + "track": 2.2281499241216807e-06, + "acceleration": 7.971862032718491e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0030790690507274e-05, + "observation_loss": 9.549107744533103e-06, + "chamfer": 7.3426358540018555e-06, + "track": 2.206472117904923e-06, + "acceleration": 4.816825480702391e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.698274880065583e-06, + "observation_loss": 9.486777344136499e-06, + "chamfer": 7.29940347810043e-06, + "track": 2.1873743207834195e-06, + "acceleration": 2.1149777751361398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.598987162462436e-06, + "observation_loss": 9.325287464889698e-06, + "chamfer": 7.182563876995118e-06, + "track": 2.142723815268255e-06, + "acceleration": 2.7369998178983224e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.892934940580744e-06, + "observation_loss": 9.25039694266161e-06, + "chamfer": 7.119278507161653e-06, + "track": 2.1311182081262814e-06, + "acceleration": 6.425380547625537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2813116882171016e-05, + "observation_loss": 9.42888709687395e-06, + "chamfer": 7.226511570479488e-06, + "track": 2.2023755263944622e-06, + "acceleration": 3.3842300126707414e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2511638487922028e-05, + "observation_loss": 9.670898180047516e-06, + "chamfer": 7.3850242188200355e-06, + "track": 2.2858739612274803e-06, + "acceleration": 2.840739853127161e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.042342137225205e-05, + "observation_loss": 9.576578122505452e-06, + "chamfer": 7.320158601942239e-06, + "track": 2.2564192931895377e-06, + "acceleration": 8.468435339636926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0435268450237345e-05, + "observation_loss": 9.691005288914312e-06, + "chamfer": 7.390754490188556e-06, + "track": 2.300250798725756e-06, + "acceleration": 7.442635023835464e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0104348802997265e-05, + "observation_loss": 9.815695193537977e-06, + "chamfer": 7.465149792551529e-06, + "track": 2.350545400986448e-06, + "acceleration": 2.886540357849299e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.007886112347478e-05, + "observation_loss": 9.980031791201327e-06, + "chamfer": 7.549001111328835e-06, + "track": 2.4310306798724923e-06, + "acceleration": 9.882906226721389e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0287376426276751e-05, + "observation_loss": 1.0158442819374613e-05, + "chamfer": 7.638571332790889e-06, + "track": 2.5198719413310755e-06, + "acceleration": 1.2893345058273553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0490399290574715e-05, + "observation_loss": 1.0414683856652118e-05, + "chamfer": 7.80470872996375e-06, + "track": 2.6099746719410177e-06, + "acceleration": 7.57152278652029e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0846824807231314e-05, + "observation_loss": 1.0748191925813444e-05, + "chamfer": 8.031519428186584e-06, + "track": 2.7166724976268597e-06, + "acceleration": 9.863333616522141e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1078357601945754e-05, + "observation_loss": 1.0984672371705528e-05, + "chamfer": 8.190962944354396e-06, + "track": 2.7937091999774566e-06, + "acceleration": 9.368495312855885e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1162806003994774e-05, + "observation_loss": 1.1072415873059072e-05, + "chamfer": 8.232462278101593e-06, + "track": 2.839953367583803e-06, + "acceleration": 9.038980408604402e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.128015082940692e-05, + "observation_loss": 1.1149381862196606e-05, + "chamfer": 8.28265638119774e-06, + "track": 2.8667257083725417e-06, + "acceleration": 1.3076876825834916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.138573406933574e-05, + "observation_loss": 1.124036316468846e-05, + "chamfer": 8.329757292813156e-06, + "track": 2.910605417127954e-06, + "acceleration": 1.4537123149693798e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1316464224364609e-05, + "observation_loss": 1.12465395432082e-05, + "chamfer": 8.321296263602562e-06, + "track": 2.925243052231963e-06, + "acceleration": 6.992457457499768e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1467780495877378e-05, + "observation_loss": 1.125180733652087e-05, + "chamfer": 8.325675480591599e-06, + "track": 2.926131628555595e-06, + "acceleration": 2.1597290356112353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1431916391302366e-05, + "observation_loss": 1.132178476836998e-05, + "chamfer": 8.360576430277433e-06, + "track": 2.961208792839898e-06, + "acceleration": 1.1013170819751394e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1493201782286633e-05, + "observation_loss": 1.1401270057831425e-05, + "chamfer": 8.395997610932682e-06, + "track": 3.005272219525068e-06, + "acceleration": 9.193164629550665e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1554570846783463e-05, + "observation_loss": 1.1460601854196284e-05, + "chamfer": 8.430277375737205e-06, + "track": 3.0303247058327543e-06, + "acceleration": 9.39689499546148e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1634197107923683e-05, + "observation_loss": 1.1549233022378758e-05, + "chamfer": 8.47935280035017e-06, + "track": 3.069880676775938e-06, + "acceleration": 8.496439107830156e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1611291483859532e-05, + "observation_loss": 1.1502725101308897e-05, + "chamfer": 8.453524060314521e-06, + "track": 3.0492012683680514e-06, + "acceleration": 1.0856653887003631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.143145709647797e-05, + "observation_loss": 1.1339473530824762e-05, + "chamfer": 8.350874850293621e-06, + "track": 2.988598453157465e-06, + "acceleration": 9.198399908427746e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.253989259780306e-06, + "chamfer_mean": 5.667246635236249e-06, + "track_mean": 1.5513473850721955e-06, + "acceleration_mean": 1.035395271631323e-06, + "observation_score": 7.218594023565099e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4308550420009851 + }, + "score_arrays_file": "pass_scores/pass_end_0303.npz", + "score_arrays_sha256": "d51a89f81fd3700f5b7fdcf4bd19054794cad102d3ff4f005eb9822898205a27" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0304.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0304.json new file mode 100644 index 0000000000000000000000000000000000000000..910c28df37ccff08d498509e5466474093cd14dc --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0304.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29184, + "completed_passes": 304, + "snapshot": "pass_end_0304", + "candidate": true, + "snapshot_arrays_sha256": "c106b032d71a2d0caee3f9d935f699cac54ab33839a704193322e05c0b2de9fe", + "score": 7.2135066773171275e-06, + "score_result": { + "score": 7.2135066773171275e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.873041694329004e-06, + 3.1582439987687394e-06, + 3.2820150863699382e-06, + 3.7146533031773288e-06, + 4.23496976509341e-06, + 4.447217634151457e-06, + 4.206870016787434e-06, + 4.068541329615982e-06, + 4.0103627725329716e-06, + 4.117575826967368e-06, + 4.498265752772568e-06, + 4.960050773661351e-06, + 5.268891982268542e-06, + 5.477899321704172e-06, + 5.474372301250696e-06, + 5.365229753806489e-06, + 5.00866644870257e-06, + 4.619681931217201e-06, + 4.436663857632084e-06, + 4.416769115778152e-06, + 4.37555945609347e-06, + 4.276837444194825e-06, + 4.222333245706977e-06, + 4.2160481825703755e-06, + 4.22439188696444e-06, + 4.390336471260525e-06, + 4.786075805895962e-06, + 5.060458533989731e-06, + 5.0634575927688275e-06, + 5.023188805353129e-06, + 5.118467925058212e-06, + 5.292092282616068e-06, + 5.528113433683757e-06, + 5.760301064583473e-06, + 5.838151992065832e-06, + 5.962741852272302e-06, + 6.211442268977407e-06, + 6.309096988843521e-06, + 5.9947778936475515e-06, + 5.606947979686083e-06, + 5.596697064902401e-06, + 5.873934242117684e-06, + 6.0573211158043705e-06, + 6.2441413319902495e-06, + 6.325177309918217e-06, + 6.3753955146239605e-06, + 6.51362552162027e-06, + 6.9796697061974555e-06, + 7.606714916619239e-06, + 8.004494702618103e-06, + 7.854844625398982e-06, + 7.5962084338243585e-06, + 7.370695129793603e-06, + 7.177489351306576e-06, + 7.155255843827035e-06, + 7.192851626314223e-06, + 7.254508091136813e-06, + 7.315336461033439e-06, + 7.378814643743681e-06, + 7.503580036427593e-06, + 7.648301107110456e-06, + 7.795152669132221e-06, + 8.134395102388225e-06, + 8.612626515969168e-06, + 9.175068043987267e-06, + 9.47868284129072e-06, + 9.686962584964931e-06, + 9.886429324978963e-06, + 9.988611054723151e-06, + 9.890051842376124e-06, + 9.637287803343497e-06, + 9.546627552481368e-06, + 9.483706890023313e-06, + 9.321086508862209e-06, + 9.246768968296237e-06, + 9.419338312000036e-06, + 9.658965609560255e-06, + 9.567708730173763e-06, + 9.680333278083708e-06, + 9.804894034459721e-06, + 9.967563528334722e-06, + 1.0145288797502872e-05, + 1.0399386155768298e-05, + 1.0732239388744347e-05, + 1.0967548405460548e-05, + 1.1054866263293661e-05, + 1.1131448445667047e-05, + 1.1223729416087735e-05, + 1.1230383279325906e-05, + 1.1234926205361262e-05, + 1.1304631698294543e-05, + 1.1383706805645488e-05, + 1.144302950706333e-05, + 1.1531157724675722e-05, + 1.1484528840810526e-05, + 1.1321648344164714e-05 + ] + ], + "episode_mean_losses": [ + 7.2135066773171275e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.873041694329004e-06, + "observation_loss": 2.873041694329004e-06, + "chamfer": 2.437181365166907e-06, + "track": 4.3586038600551547e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1476363549008965e-05, + "observation_loss": 3.1582439987687394e-06, + "chamfer": 2.6711177270044573e-06, + "track": 4.87126328607701e-07, + "acceleration": 3.831811773125082e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3289610908250324e-05, + "observation_loss": 3.2820150863699382e-06, + "chamfer": 2.778676844172878e-06, + "track": 5.033381853536412e-07, + "acceleration": 2.000759559450671e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0171872418140993e-05, + "observation_loss": 3.7146533031773288e-06, + "chamfer": 3.1326421776611824e-06, + "track": 5.820111823595653e-07, + "acceleration": 6.457219569711015e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.055083758838009e-06, + "observation_loss": 4.23496976509341e-06, + "chamfer": 3.5520572509994963e-06, + "track": 6.829126277807518e-07, + "acceleration": 1.8201137663709233e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.601165867119562e-06, + "observation_loss": 4.447217634151457e-06, + "chamfer": 3.721314669746789e-06, + "track": 7.259030212480866e-07, + "acceleration": 1.1539484603417804e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.885172984359087e-06, + "observation_loss": 4.206870016787434e-06, + "chamfer": 3.525588908814825e-06, + "track": 6.812812785028655e-07, + "acceleration": 6.783028538848157e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.600996362569276e-06, + "observation_loss": 4.068541329615982e-06, + "chamfer": 3.4152158150391188e-06, + "track": 6.533253440466069e-07, + "acceleration": 5.324552034835506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4728089960699435e-06, + "observation_loss": 4.0103627725329716e-06, + "chamfer": 3.3710330171743408e-06, + "track": 6.393298690454685e-07, + "acceleration": 4.624463372238097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.422341589815915e-06, + "observation_loss": 4.117575826967368e-06, + "chamfer": 3.459008439676836e-06, + "track": 6.585672167602752e-07, + "acceleration": 3.047659333788033e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.627894668374211e-06, + "observation_loss": 4.498265752772568e-06, + "chamfer": 3.7686129417124903e-06, + "track": 7.296529815903341e-07, + "acceleration": 1.296291003427541e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.047867944085738e-06, + "observation_loss": 4.960050773661351e-06, + "chamfer": 4.139088105148403e-06, + "track": 8.209625548261101e-07, + "acceleration": 8.781704963212178e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3571393436868675e-06, + "observation_loss": 5.268891982268542e-06, + "chamfer": 4.392871687741717e-06, + "track": 8.760204650570813e-07, + "acceleration": 8.824714115007737e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.582035100815119e-06, + "observation_loss": 5.477899321704172e-06, + "chamfer": 4.570617420540657e-06, + "track": 9.07281787476677e-07, + "acceleration": 1.0413579332180234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.533117928280262e-06, + "observation_loss": 5.474372301250696e-06, + "chamfer": 4.571459157887148e-06, + "track": 9.029132570503862e-07, + "acceleration": 5.8745712294694385e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.485575002239784e-06, + "observation_loss": 5.365229753806489e-06, + "chamfer": 4.482413260120666e-06, + "track": 8.828166073726607e-07, + "acceleration": 1.203452200115862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.213305485085584e-06, + "observation_loss": 5.00866644870257e-06, + "chamfer": 4.190243089396972e-06, + "track": 8.184234729924356e-07, + "acceleration": 2.0463880900933873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.9224940994463395e-06, + "observation_loss": 4.619681931217201e-06, + "chamfer": 3.868924977723509e-06, + "track": 7.507567829634354e-07, + "acceleration": 3.0281231033768563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.609110874298494e-06, + "observation_loss": 4.436663857632084e-06, + "chamfer": 3.715469119924819e-06, + "track": 7.211948513941024e-07, + "acceleration": 1.7244718719666707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.621737389243208e-06, + "observation_loss": 4.416769115778152e-06, + "chamfer": 3.6950139019609196e-06, + "track": 7.217551569738134e-07, + "acceleration": 2.0496841557360312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.656957116822014e-06, + "observation_loss": 4.37555945609347e-06, + "chamfer": 3.65935875379364e-06, + "track": 7.16200531769573e-07, + "acceleration": 2.8139751861999684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.552184691419825e-06, + "observation_loss": 4.276837444194825e-06, + "chamfer": 3.5785255931841675e-06, + "track": 6.98311794167239e-07, + "acceleration": 2.753471619598713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.547203388938215e-06, + "observation_loss": 4.222333245706977e-06, + "chamfer": 3.539086719683837e-06, + "track": 6.832464691797213e-07, + "acceleration": 3.248700295443996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.615331818058621e-06, + "observation_loss": 4.2160481825703755e-06, + "chamfer": 3.530224830683437e-06, + "track": 6.858232382001006e-07, + "acceleration": 3.992836070665362e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.605573849403299e-06, + "observation_loss": 4.22439188696444e-06, + "chamfer": 3.5210343867220217e-06, + "track": 7.033572728687432e-07, + "acceleration": 3.8118187717373075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.687986347562401e-06, + "observation_loss": 4.390336471260525e-06, + "chamfer": 3.6393616937857587e-06, + "track": 7.509748911616043e-07, + "acceleration": 2.9764979103674705e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.138053893460892e-06, + "observation_loss": 4.786075805895962e-06, + "chamfer": 3.938413556170417e-06, + "track": 8.476620223518694e-07, + "acceleration": 3.5197811598663975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.3136855058255605e-06, + "observation_loss": 5.060458533989731e-06, + "chamfer": 4.149108008277835e-06, + "track": 9.113503551816393e-07, + "acceleration": 2.532269434141199e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.438545940705808e-06, + "observation_loss": 5.0634575927688275e-06, + "chamfer": 4.156764589424711e-06, + "track": 9.066930033441167e-07, + "acceleration": 3.750883479369804e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.235406661086017e-06, + "observation_loss": 5.023188805353129e-06, + "chamfer": 4.135270955885062e-06, + "track": 8.879178494680673e-07, + "acceleration": 2.12218054684854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.400499048846541e-06, + "observation_loss": 5.118467925058212e-06, + "chamfer": 4.218876711092889e-06, + "track": 8.99591157121904e-07, + "acceleration": 2.8203120905345713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.800966391689144e-06, + "observation_loss": 5.292092282616068e-06, + "chamfer": 4.357907073426759e-06, + "track": 9.341850955024711e-07, + "acceleration": 5.08874279603333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.24238737145788e-06, + "observation_loss": 5.528113433683757e-06, + "chamfer": 4.5451211008185055e-06, + "track": 9.829925602389267e-07, + "acceleration": 7.142738240872859e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.493053206213517e-06, + "observation_loss": 5.760301064583473e-06, + "chamfer": 4.716292096418329e-06, + "track": 1.0440088544783066e-06, + "acceleration": 7.327521416300442e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.577042768185493e-06, + "observation_loss": 5.838151992065832e-06, + "chamfer": 4.773802174895536e-06, + "track": 1.0643499308571336e-06, + "acceleration": 7.388907761196606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.703942744934466e-06, + "observation_loss": 5.962741852272302e-06, + "chamfer": 4.8512679313716944e-06, + "track": 1.111473693526932e-06, + "acceleration": 7.412006652884884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.423299510061042e-06, + "observation_loss": 6.211442268977407e-06, + "chamfer": 5.027197857998544e-06, + "track": 1.1842446383525385e-06, + "acceleration": 2.1185724108363502e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.760605174349621e-06, + "observation_loss": 6.309096988843521e-06, + "chamfer": 5.10985864821123e-06, + "track": 1.1992383406322915e-06, + "acceleration": 4.515081570843904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.154873062769184e-06, + "observation_loss": 5.9947778936475515e-06, + "chamfer": 4.882572284259368e-06, + "track": 1.112205495701346e-06, + "acceleration": 1.6009498438052105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.744940153817879e-06, + "observation_loss": 5.606947979686083e-06, + "chamfer": 4.582071142067434e-06, + "track": 1.0248767239318113e-06, + "acceleration": 1.3799198939068447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.87371141591575e-06, + "observation_loss": 5.596697064902401e-06, + "chamfer": 4.571766112348996e-06, + "track": 1.0249310662402422e-06, + "acceleration": 2.7701432259163994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.131569534773007e-06, + "observation_loss": 5.873934242117684e-06, + "chamfer": 4.77338335258537e-06, + "track": 1.1005510032191523e-06, + "acceleration": 2.57635178968485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.194729394337628e-06, + "observation_loss": 6.0573211158043705e-06, + "chamfer": 4.897027793049347e-06, + "track": 1.1602930953813484e-06, + "acceleration": 1.374083353766764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.280290108406916e-06, + "observation_loss": 6.2441413319902495e-06, + "chamfer": 5.033434717915952e-06, + "track": 1.2107065003874595e-06, + "acceleration": 3.614887944536349e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.409611160052009e-06, + "observation_loss": 6.325177309918217e-06, + "chamfer": 5.0908697630802635e-06, + "track": 1.2343076605247916e-06, + "acceleration": 8.443405619118494e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.527703135361662e-06, + "observation_loss": 6.3753955146239605e-06, + "chamfer": 5.128342309035361e-06, + "track": 1.2470533192754374e-06, + "acceleration": 1.5230770600282995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.709542503813282e-06, + "observation_loss": 6.51362552162027e-06, + "chamfer": 5.237075583863771e-06, + "track": 1.2765499377564993e-06, + "acceleration": 1.9591706745814008e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.141772130125901e-06, + "observation_loss": 6.9796697061974555e-06, + "chamfer": 5.585146482189884e-06, + "track": 1.3945233376944088e-06, + "acceleration": 1.621025234044282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.752006240480114e-06, + "observation_loss": 7.606714916619239e-06, + "chamfer": 6.02582849751343e-06, + "track": 1.580886532792647e-06, + "acceleration": 1.4529166492138756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.292005986731965e-06, + "observation_loss": 8.004494702618103e-06, + "chamfer": 6.311288871074794e-06, + "track": 1.6932058315433096e-06, + "acceleration": 2.875114546441182e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.126354259729851e-06, + "observation_loss": 7.854844625398982e-06, + "chamfer": 6.213034794200212e-06, + "track": 1.6418101722592837e-06, + "acceleration": 2.715094069571933e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.852268936403561e-06, + "observation_loss": 7.5962084338243585e-06, + "chamfer": 6.037444109097123e-06, + "track": 1.5587642110403976e-06, + "acceleration": 2.560607015311689e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.456650564563461e-06, + "observation_loss": 7.370695129793603e-06, + "chamfer": 5.870064796908991e-06, + "track": 1.5006301055109361e-06, + "acceleration": 8.595549871870389e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.231089512060862e-06, + "observation_loss": 7.177489351306576e-06, + "chamfer": 5.725130904465914e-06, + "track": 1.4523584468406625e-06, + "acceleration": 5.36000186457386e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.21854075891315e-06, + "observation_loss": 7.155255843827035e-06, + "chamfer": 5.704564046027372e-06, + "track": 1.450692025173339e-06, + "acceleration": 6.328471613414877e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.273819392139558e-06, + "observation_loss": 7.192851626314223e-06, + "chamfer": 5.723541562474566e-06, + "track": 1.4693102912133327e-06, + "acceleration": 8.096771608734343e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.298117907339474e-06, + "observation_loss": 7.254508091136813e-06, + "chamfer": 5.766464255430037e-06, + "track": 1.4880436083331006e-06, + "acceleration": 4.360997607477657e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.522107352997409e-06, + "observation_loss": 7.315336461033439e-06, + "chamfer": 5.79724019189598e-06, + "track": 1.5180963828242966e-06, + "acceleration": 2.0677109091593593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.865493898862042e-06, + "observation_loss": 7.378814643743681e-06, + "chamfer": 5.8466330301598646e-06, + "track": 1.5321814998969785e-06, + "acceleration": 4.866796530222928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.491131666232832e-06, + "observation_loss": 7.503580036427593e-06, + "chamfer": 5.9261988099024165e-06, + "track": 1.5773812265251763e-06, + "acceleration": 9.875514024315635e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.065975973499008e-06, + "observation_loss": 7.648301107110456e-06, + "chamfer": 6.0407269302231725e-06, + "track": 1.6075744042609585e-06, + "acceleration": 1.4176745253280387e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.628496289020404e-06, + "observation_loss": 7.795152669132221e-06, + "chamfer": 6.153715276013827e-06, + "track": 1.6414377341789077e-06, + "acceleration": 8.333432788276696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.485447324346751e-06, + "observation_loss": 8.134395102388225e-06, + "chamfer": 6.400982783816289e-06, + "track": 1.7334122048850986e-06, + "acceleration": 3.5105256301903864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.883724149200134e-06, + "observation_loss": 8.612626515969168e-06, + "chamfer": 6.729535925842356e-06, + "track": 1.883090817500488e-06, + "acceleration": 2.710977469178033e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.289513400290161e-06, + "observation_loss": 9.175068043987267e-06, + "chamfer": 7.112424555089092e-06, + "track": 2.0626437162718503e-06, + "acceleration": 1.1444519998349278e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.565099389874376e-06, + "observation_loss": 9.47868284129072e-06, + "chamfer": 7.3175224315491505e-06, + "track": 2.161160182367894e-06, + "acceleration": 8.641616489057924e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.957779184333049e-06, + "observation_loss": 9.686962584964931e-06, + "chamfer": 7.459537755494239e-06, + "track": 2.227425284218043e-06, + "acceleration": 2.708168551635026e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0054883205157239e-05, + "observation_loss": 9.886429324978963e-06, + "chamfer": 7.570440629933728e-06, + "track": 2.3159886950452346e-06, + "acceleration": 1.6845397965425946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.010338655760279e-05, + "observation_loss": 9.988611054723151e-06, + "chamfer": 7.62772742746165e-06, + "track": 2.3608833998878254e-06, + "acceleration": 1.1477568051532216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.020876516122371e-05, + "observation_loss": 9.890051842376124e-06, + "chamfer": 7.563030521851033e-06, + "track": 2.3270210931514157e-06, + "acceleration": 3.1871320516074775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0433686838950962e-05, + "observation_loss": 9.637287803343497e-06, + "chamfer": 7.4096569733228534e-06, + "track": 2.2276308300206438e-06, + "acceleration": 7.963991492943023e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0028065844380762e-05, + "observation_loss": 9.546627552481368e-06, + "chamfer": 7.340998763538664e-06, + "track": 2.205629243690055e-06, + "acceleration": 4.814380645257188e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.696166671346873e-06, + "observation_loss": 9.483706890023313e-06, + "chamfer": 7.297412139450898e-06, + "track": 2.1862945231987396e-06, + "acceleration": 2.1246013659492746e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.593329195922706e-06, + "observation_loss": 9.321086508862209e-06, + "chamfer": 7.179755812103394e-06, + "track": 2.1413309241324896e-06, + "acceleration": 2.7224226073485625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.86370287137106e-06, + "observation_loss": 9.246768968296237e-06, + "chamfer": 7.117391305655474e-06, + "track": 2.1293772078934126e-06, + "acceleration": 6.169337893879856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2803342542611063e-05, + "observation_loss": 9.419338312000036e-06, + "chamfer": 7.2196603468910325e-06, + "track": 2.1996784198563546e-06, + "acceleration": 3.3840044579847017e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2505141057772562e-05, + "observation_loss": 9.658965609560255e-06, + "chamfer": 7.376632311206777e-06, + "track": 2.2823335257271538e-06, + "acceleration": 2.8461752208386315e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0407119589217473e-05, + "observation_loss": 9.567708730173763e-06, + "chamfer": 7.3141341090376955e-06, + "track": 2.2535746211360674e-06, + "acceleration": 8.394112001042231e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0443484825373162e-05, + "observation_loss": 9.680333278083708e-06, + "chamfer": 7.383317097264808e-06, + "track": 2.297015953445225e-06, + "acceleration": 7.631517746631289e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0104400644195266e-05, + "observation_loss": 9.804894034459721e-06, + "chamfer": 7.457995252480032e-06, + "track": 2.346898554606014e-06, + "acceleration": 2.995068371092202e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0071984434034675e-05, + "observation_loss": 9.967563528334722e-06, + "chamfer": 7.5409552664496005e-06, + "track": 2.426608489258797e-06, + "acceleration": 1.0442079201311572e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0276994544256013e-05, + "observation_loss": 1.0145288797502872e-05, + "chamfer": 7.63020034355577e-06, + "track": 2.515088453947101e-06, + "acceleration": 1.3170574675314128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0474385817360599e-05, + "observation_loss": 1.0399386155768298e-05, + "chamfer": 7.795014425937552e-06, + "track": 2.60437150245707e-06, + "acceleration": 7.499941290234347e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0828091035364196e-05, + "observation_loss": 1.0732239388744347e-05, + "chamfer": 8.021795110835228e-06, + "track": 2.7104440505354432e-06, + "acceleration": 9.585178872839606e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1061908480769489e-05, + "observation_loss": 1.0967548405460548e-05, + "chamfer": 8.180442819138989e-06, + "track": 2.787105586321559e-06, + "acceleration": 9.436018899577903e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1147777513542678e-05, + "observation_loss": 1.1054866263293661e-05, + "chamfer": 8.221822099585552e-06, + "track": 2.8330446184554603e-06, + "acceleration": 9.291092339935858e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1262618500040844e-05, + "observation_loss": 1.1131448445667047e-05, + "chamfer": 8.271563274320215e-06, + "track": 2.859885171346832e-06, + "acceleration": 1.3116988384354045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1369399544491898e-05, + "observation_loss": 1.1223729416087735e-05, + "chamfer": 8.31989473226713e-06, + "track": 2.9038346838206053e-06, + "acceleration": 1.4567024209100055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.13027626866824e-05, + "observation_loss": 1.1230383279325906e-05, + "chamfer": 8.311782039527316e-06, + "track": 2.918601012424915e-06, + "acceleration": 7.237940025106582e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1453799743321724e-05, + "observation_loss": 1.1234926205361262e-05, + "chamfer": 8.315493687405251e-06, + "track": 2.91943206320866e-06, + "acceleration": 2.1887312584567553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1416548659326509e-05, + "observation_loss": 1.1304631698294543e-05, + "chamfer": 8.350377356691752e-06, + "track": 2.954254796350142e-06, + "acceleration": 1.1191650628461502e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1475969586172141e-05, + "observation_loss": 1.1383706805645488e-05, + "chamfer": 8.385565706703346e-06, + "track": 2.998141098942142e-06, + "acceleration": 9.22627521049435e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1536893907759804e-05, + "observation_loss": 1.144302950706333e-05, + "chamfer": 8.41997371026082e-06, + "track": 3.0230562515498605e-06, + "acceleration": 9.386463517557786e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1616024494287558e-05, + "observation_loss": 1.1531157724675722e-05, + "chamfer": 8.468768101010937e-06, + "track": 3.062390078412136e-06, + "acceleration": 8.486676961183548e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1592941518756561e-05, + "observation_loss": 1.1484528840810526e-05, + "chamfer": 8.442811122222338e-06, + "track": 3.0417179459618637e-06, + "acceleration": 1.0841223740953865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1413680113037117e-05, + "observation_loss": 1.1321648344164714e-05, + "chamfer": 8.340402018802706e-06, + "track": 2.981246780109359e-06, + "acceleration": 9.203147044445359e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.250136268372898e-06, + "chamfer_mean": 5.6637979805411005e-06, + "track_mean": 1.5497087234213798e-06, + "acceleration_mean": 1.0366295650025374e-06, + "observation_score": 7.2135066773171275e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429351745000531 + }, + "score_arrays_file": "pass_scores/pass_end_0304.npz", + "score_arrays_sha256": "434d72d9b3bd6afd494b5b84b2876098914c0cee7bae1e029fba1f962ac02fbd" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0305.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0305.json new file mode 100644 index 0000000000000000000000000000000000000000..ec6d66b1c7dcb8606cba5aefd4f7e145a7c3f9a5 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0305.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29280, + "completed_passes": 305, + "snapshot": "pass_end_0305", + "candidate": true, + "snapshot_arrays_sha256": "44dcf692cc9537e8cfd98d48e160a12d8feabfbed1a02eada207ea5ba63f6f62", + "score": 7.210360325397384e-06, + "score_result": { + "score": 7.210360325397384e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872986897273222e-06, + 3.1581066650687717e-06, + 3.2804787224449683e-06, + 3.713224259627168e-06, + 4.233120307617355e-06, + 4.445601916813757e-06, + 4.20477999796276e-06, + 4.065710527356714e-06, + 4.007692041341215e-06, + 4.114713192393538e-06, + 4.49554272563546e-06, + 4.957310466124909e-06, + 5.266383595881052e-06, + 5.475655143527547e-06, + 5.472381417348515e-06, + 5.3631952141586225e-06, + 5.006355422665365e-06, + 4.617270860762801e-06, + 4.434234597283648e-06, + 4.4145676838525105e-06, + 4.372959665488452e-06, + 4.2731121538963635e-06, + 4.2180108721368015e-06, + 4.212438398099039e-06, + 4.22211905970471e-06, + 4.3898990043089725e-06, + 4.78661877423292e-06, + 5.060558578406926e-06, + 5.0619555622688495e-06, + 5.021160177420825e-06, + 5.117418822919717e-06, + 5.293721642374294e-06, + 5.530609087145422e-06, + 5.7615761761553586e-06, + 5.838075139763532e-06, + 5.963575404166477e-06, + 6.212800599314505e-06, + 6.311542165349238e-06, + 5.998336746415589e-06, + 5.60610487809754e-06, + 5.5927280300238635e-06, + 5.869959295523586e-06, + 6.053489414625801e-06, + 6.239652066142298e-06, + 6.320423835859401e-06, + 6.371062681864714e-06, + 6.509540980914608e-06, + 6.975462838454405e-06, + 7.601721335959155e-06, + 7.999295121408068e-06, + 7.849450412322767e-06, + 7.5921789175481535e-06, + 7.367978923866758e-06, + 7.175647624535486e-06, + 7.154194918257417e-06, + 7.1917356763151474e-06, + 7.2536577135906555e-06, + 7.314512004086282e-06, + 7.3782512117759325e-06, + 7.5031612141174264e-06, + 7.6481701398734e-06, + 7.795342753524892e-06, + 8.134886229527183e-06, + 8.613961654191371e-06, + 9.177192623610608e-06, + 9.481403139943723e-06, + 9.689656508271582e-06, + 9.889053217193577e-06, + 9.991266779252328e-06, + 9.892935850075446e-06, + 9.639976269681938e-06, + 9.549226888339035e-06, + 9.485898772254586e-06, + 9.321971447207034e-06, + 9.247942216461524e-06, + 9.416439752385486e-06, + 9.654580026108306e-06, + 9.565969776303973e-06, + 9.67644064076012e-06, + 9.799890904105268e-06, + 9.960564057109877e-06, + 1.0136425771634094e-05, + 1.0388420378149021e-05, + 1.0720419595600106e-05, + 1.0954388926620595e-05, + 1.104132752516307e-05, + 1.1117734175059013e-05, + 1.1211264791199937e-05, + 1.12176576294587e-05, + 1.1221245586057194e-05, + 1.1291244845779147e-05, + 1.1370153515599668e-05, + 1.1429573532950599e-05, + 1.1517267921590246e-05, + 1.1470528988866135e-05, + 1.130815962824272e-05 + ] + ], + "episode_mean_losses": [ + 7.210360325397384e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872986897273222e-06, + "observation_loss": 2.872986897273222e-06, + "chamfer": 2.4371272502321517e-06, + "track": 4.35859760727908e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.147479558014311e-05, + "observation_loss": 3.1581066650687717e-06, + "chamfer": 2.6709956273407442e-06, + "track": 4.871109240411897e-07, + "acceleration": 3.8316688005579636e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.327792208234314e-05, + "observation_loss": 3.2804787224449683e-06, + "chamfer": 2.777399913611589e-06, + "track": 5.030786951465416e-07, + "acceleration": 1.999744381464552e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.016908572637476e-05, + "observation_loss": 3.713224259627168e-06, + "chamfer": 3.1314561965700705e-06, + "track": 5.817680062136787e-07, + "acceleration": 6.455861694121268e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.038877472747117e-06, + "observation_loss": 4.233120307617355e-06, + "chamfer": 3.550540213836939e-06, + "track": 6.825799232501595e-07, + "acceleration": 1.8057572788165999e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5962209444260225e-06, + "observation_loss": 4.445601916813757e-06, + "chamfer": 3.7199831695033936e-06, + "track": 7.256186904669448e-07, + "acceleration": 1.1506189139254275e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.881690074398648e-06, + "observation_loss": 4.20477999796276e-06, + "chamfer": 3.523861551002483e-06, + "track": 6.809185606471146e-07, + "acceleration": 6.769102469661448e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.600283318723086e-06, + "observation_loss": 4.065710527356714e-06, + "chamfer": 3.412867954466492e-06, + "track": 6.528424592033844e-07, + "acceleration": 5.345727345229534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.471105057746172e-06, + "observation_loss": 4.007692041341215e-06, + "chamfer": 3.3688233997963835e-06, + "track": 6.388686415448319e-07, + "acceleration": 4.6341290271811886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.41962038166821e-06, + "observation_loss": 4.114713192393538e-06, + "chamfer": 3.4566328395158052e-06, + "track": 6.580804665645701e-07, + "acceleration": 3.049072745398007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.625588644557865e-06, + "observation_loss": 4.49554272563546e-06, + "chamfer": 3.766367399293813e-06, + "track": 7.291753831850656e-07, + "acceleration": 1.3004596155496984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.045390025770757e-06, + "observation_loss": 4.957310466124909e-06, + "chamfer": 4.136852567171445e-06, + "track": 8.204577852666262e-07, + "acceleration": 8.807938911559177e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.35468325324473e-06, + "observation_loss": 5.266383595881052e-06, + "chamfer": 4.390838057588553e-06, + "track": 8.755455951359181e-07, + "acceleration": 8.829972131252362e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.579565367952455e-06, + "observation_loss": 5.475655143527547e-06, + "chamfer": 4.568813892547041e-06, + "track": 9.068414215107623e-07, + "acceleration": 1.0391024574119001e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.531235728994943e-06, + "observation_loss": 5.472381417348515e-06, + "chamfer": 4.569867996906396e-06, + "track": 9.025135909723758e-07, + "acceleration": 5.885451415110765e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.483832410391187e-06, + "observation_loss": 5.3631952141586225e-06, + "chamfer": 4.480777988646878e-06, + "track": 8.824172823551635e-07, + "acceleration": 1.206373383411119e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.211535153648583e-06, + "observation_loss": 5.006355422665365e-06, + "chamfer": 4.1883636185957585e-06, + "track": 8.179918609130254e-07, + "acceleration": 2.0517953203125217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.920660558127565e-06, + "observation_loss": 4.617270860762801e-06, + "chamfer": 3.866969564114697e-06, + "track": 7.503014671783603e-07, + "acceleration": 3.03389811051602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.605926278600236e-06, + "observation_loss": 4.434234597283648e-06, + "chamfer": 3.713461637744331e-06, + "track": 7.207730732261552e-07, + "acceleration": 1.7169178079257108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.6188069973140955e-06, + "observation_loss": 4.4145676838525105e-06, + "chamfer": 3.6931994600308826e-06, + "track": 7.213683375084656e-07, + "acceleration": 2.042391429313284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6545824261556845e-06, + "observation_loss": 4.372959665488452e-06, + "chamfer": 3.6572250792232808e-06, + "track": 7.157348136388464e-07, + "acceleration": 2.816229311974894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.54803739557974e-06, + "observation_loss": 4.2731121538963635e-06, + "chamfer": 3.5754706004809123e-06, + "track": 6.976416671022889e-07, + "acceleration": 2.749250995748298e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.552501195576042e-06, + "observation_loss": 4.2180108721368015e-06, + "chamfer": 3.535539235599572e-06, + "track": 6.824716933806485e-07, + "acceleration": 3.344903518609499e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.636567609850317e-06, + "observation_loss": 4.212438398099039e-06, + "chamfer": 3.52724077856692e-06, + "track": 6.851976763755374e-07, + "acceleration": 4.2412943912495393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.6188229134713765e-06, + "observation_loss": 4.22211905970471e-06, + "chamfer": 3.5191342249163426e-06, + "track": 7.029850053186237e-07, + "acceleration": 3.9670405271863274e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.69075621367665e-06, + "observation_loss": 4.3898990043089725e-06, + "chamfer": 3.639020178525243e-06, + "track": 7.508787689403107e-07, + "acceleration": 3.0085709568083985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.132218575454317e-06, + "observation_loss": 4.78661877423292e-06, + "chamfer": 3.938798727176618e-06, + "track": 8.47819819682627e-07, + "acceleration": 3.456000285950722e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.307638730300823e-06, + "observation_loss": 5.060558578406926e-06, + "chamfer": 4.149081178184133e-06, + "track": 9.114776275964687e-07, + "acceleration": 2.4708020873731584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.4297715905704536e-06, + "observation_loss": 5.0619555622688495e-06, + "chamfer": 4.155520400672685e-06, + "track": 9.064349342224887e-07, + "acceleration": 3.678161988318607e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.230302576819668e-06, + "observation_loss": 5.021160177420825e-06, + "chamfer": 4.133603852096712e-06, + "track": 8.87556154793856e-07, + "acceleration": 2.0914229992285982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.392350431066006e-06, + "observation_loss": 5.117418822919717e-06, + "chamfer": 4.218023150315275e-06, + "track": 8.993958431346982e-07, + "acceleration": 2.749315513028705e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.787535883428063e-06, + "observation_loss": 5.293721642374294e-06, + "chamfer": 4.359225385996979e-06, + "track": 9.344961426904774e-07, + "acceleration": 4.938140136800939e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.25477059656987e-06, + "observation_loss": 5.530609087145422e-06, + "chamfer": 4.547178832581267e-06, + "track": 9.834303682509926e-07, + "acceleration": 7.241613957376103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.48660625302e-06, + "observation_loss": 5.7615761761553586e-06, + "chamfer": 4.717659521702444e-06, + "track": 1.0439168818265898e-06, + "acceleration": 7.250299063343846e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.58224325889023e-06, + "observation_loss": 5.838075139763532e-06, + "chamfer": 4.774180069944123e-06, + "track": 1.0638950698194094e-06, + "acceleration": 7.441680622832791e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.738294359820429e-06, + "observation_loss": 5.963575404166477e-06, + "chamfer": 4.852232450502925e-06, + "track": 1.1113428399767145e-06, + "acceleration": 7.747188419671147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.447336545534199e-06, + "observation_loss": 6.212800599314505e-06, + "chamfer": 5.0281946641916875e-06, + "track": 1.18460582143598e-06, + "acceleration": 2.3453573305687314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.7873784246330615e-06, + "observation_loss": 6.311542165349238e-06, + "chamfer": 5.111536665936001e-06, + "track": 1.2000057267869124e-06, + "acceleration": 4.7583640139237104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.1606524468516e-06, + "observation_loss": 5.998336746415589e-06, + "chamfer": 4.885257567366352e-06, + "track": 1.113079065362399e-06, + "acceleration": 1.6231557253831852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.7450706663075835e-06, + "observation_loss": 5.60610487809754e-06, + "chamfer": 4.581280791171594e-06, + "track": 1.024824200612784e-06, + "acceleration": 1.3896575978833425e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.871436769666616e-06, + "observation_loss": 5.5927280300238635e-06, + "chamfer": 4.568560598272597e-06, + "track": 1.0241675454381038e-06, + "acceleration": 2.787085975342052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.129357643658295e-06, + "observation_loss": 5.869959295523586e-06, + "chamfer": 4.77019784739241e-06, + "track": 1.0997615618180134e-06, + "acceleration": 2.5939846182154724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.191518423293019e-06, + "observation_loss": 6.053489414625801e-06, + "chamfer": 4.893991444987478e-06, + "track": 1.1594981970119989e-06, + "acceleration": 1.3802883813696099e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.275960004131775e-06, + "observation_loss": 6.239652066142298e-06, + "chamfer": 5.02987359141116e-06, + "track": 1.2097783610443003e-06, + "acceleration": 3.6307856277062456e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.4049268075905275e-06, + "observation_loss": 6.320423835859401e-06, + "chamfer": 5.087102181278169e-06, + "track": 1.2333215408943943e-06, + "acceleration": 8.450285093886123e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.5229874053329695e-06, + "observation_loss": 6.371062681864714e-06, + "chamfer": 5.124944891576888e-06, + "track": 1.2461177902878262e-06, + "acceleration": 1.5192479452252883e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.70584813633468e-06, + "observation_loss": 6.509540980914608e-06, + "chamfer": 5.233857791608898e-06, + "track": 1.2756833029925474e-06, + "acceleration": 1.9630721226349124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.13824238118832e-06, + "observation_loss": 6.975462838454405e-06, + "chamfer": 5.581979621638311e-06, + "track": 1.393483103129256e-06, + "acceleration": 1.6277945746878686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.746936717012431e-06, + "observation_loss": 7.601721335959155e-06, + "chamfer": 6.0221223066037055e-06, + "track": 1.5795989156686119e-06, + "acceleration": 1.4521515367960092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.287370292237028e-06, + "observation_loss": 7.999295121408068e-06, + "chamfer": 6.307647254288895e-06, + "track": 1.6916476397454971e-06, + "acceleration": 2.880755971546023e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.121179234876763e-06, + "observation_loss": 7.849450412322767e-06, + "chamfer": 6.209215371200116e-06, + "track": 1.6402354958700016e-06, + "acceleration": 2.7172913519279973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.848340828786604e-06, + "observation_loss": 7.5921789175481535e-06, + "chamfer": 6.034544639987871e-06, + "track": 1.557634050186607e-06, + "acceleration": 2.561615701779374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4544482231431175e-06, + "observation_loss": 7.367978923866758e-06, + "chamfer": 5.868031166755827e-06, + "track": 1.4999476434240933e-06, + "acceleration": 8.646919980037637e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.228826689242851e-06, + "observation_loss": 7.175647624535486e-06, + "chamfer": 5.72377985008643e-06, + "track": 1.4518676607622183e-06, + "acceleration": 5.31788444391168e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.217091024358524e-06, + "observation_loss": 7.154194918257417e-06, + "chamfer": 5.703822807845427e-06, + "track": 1.4503719967251527e-06, + "acceleration": 6.289604925768799e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.272619768627919e-06, + "observation_loss": 7.1917356763151474e-06, + "chamfer": 5.722705282096285e-06, + "track": 1.4690305079056998e-06, + "acceleration": 8.088426994845577e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.297686352103483e-06, + "observation_loss": 7.2536577135906555e-06, + "chamfer": 5.765832156612305e-06, + "track": 1.4878256706651882e-06, + "acceleration": 4.402856035312652e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.522628493461525e-06, + "observation_loss": 7.314512004086282e-06, + "chamfer": 5.796633558929898e-06, + "track": 1.5178784451563843e-06, + "acceleration": 2.081164325318241e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.86683176556835e-06, + "observation_loss": 7.3782512117759325e-06, + "chamfer": 5.846221483807312e-06, + "track": 1.5320296142817824e-06, + "acceleration": 4.885804969489982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.493650966556743e-06, + "observation_loss": 7.5031612141174264e-06, + "chamfer": 5.9259145928081125e-06, + "track": 1.5772468486829894e-06, + "acceleration": 9.90489525065641e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.069099178304896e-06, + "observation_loss": 7.6481701398734e-06, + "chamfer": 6.04064371145796e-06, + "track": 1.6075266557891155e-06, + "acceleration": 1.4209291521183331e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.630955562693998e-06, + "observation_loss": 7.795342753524892e-06, + "chamfer": 6.153876256576041e-06, + "track": 1.6414660422015004e-06, + "acceleration": 8.356131502296194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.487244485877454e-06, + "observation_loss": 8.134886229527183e-06, + "chamfer": 6.401339760486735e-06, + "track": 1.7335466964141233e-06, + "acceleration": 3.523584553022374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.886428076948505e-06, + "observation_loss": 8.613961654191371e-06, + "chamfer": 6.730485438311007e-06, + "track": 1.8834764432540396e-06, + "acceleration": 2.7246633749200555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.291681635659188e-06, + "observation_loss": 9.177192623610608e-06, + "chamfer": 7.1139643296191934e-06, + "track": 2.0632285213650903e-06, + "acceleration": 1.1448877756947695e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.567639608576428e-06, + "observation_loss": 9.481403139943723e-06, + "chamfer": 7.319531960092718e-06, + "track": 2.161871179851005e-06, + "acceleration": 8.623656810868852e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.960905117623042e-06, + "observation_loss": 9.689656508271582e-06, + "chamfer": 7.46160048947786e-06, + "track": 2.2280564735410735e-06, + "acceleration": 2.712485240863316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0057738109026104e-05, + "observation_loss": 9.889053217193577e-06, + "chamfer": 7.572434242320014e-06, + "track": 2.3166189748735633e-06, + "acceleration": 1.686848349891079e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0105991350428667e-05, + "observation_loss": 9.991266779252328e-06, + "chamfer": 7.629734682268463e-06, + "track": 2.3615323243575403e-06, + "acceleration": 1.147247630228776e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0211439985141624e-05, + "observation_loss": 9.892935850075446e-06, + "chamfer": 7.565216947114095e-06, + "track": 2.3277191303350264e-06, + "acceleration": 3.185040498010494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0437075616209768e-05, + "observation_loss": 9.639976269681938e-06, + "chamfer": 7.4116273935942445e-06, + "track": 2.2283493308350444e-06, + "acceleration": 7.970995170580863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0031572855950799e-05, + "observation_loss": 9.549226888339035e-06, + "chamfer": 7.342953722400125e-06, + "track": 2.206272711191559e-06, + "acceleration": 4.823456833946693e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.699534530227538e-06, + "observation_loss": 9.485898772254586e-06, + "chamfer": 7.299084245460108e-06, + "track": 2.186814981541829e-06, + "acceleration": 2.1363604219004628e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.594632501830347e-06, + "observation_loss": 9.321971447207034e-06, + "chamfer": 7.180409738793969e-06, + "track": 2.1415617084130645e-06, + "acceleration": 2.726611967318604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.84496819000924e-06, + "observation_loss": 9.247942216461524e-06, + "chamfer": 7.118472240108531e-06, + "track": 2.129469748979318e-06, + "acceleration": 5.970262009213911e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2789243555744179e-05, + "observation_loss": 9.416439752385486e-06, + "chamfer": 7.217304755613441e-06, + "track": 2.1991349967720453e-06, + "acceleration": 3.3728042581060436e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2503743164415937e-05, + "observation_loss": 9.654580026108306e-06, + "chamfer": 7.373329935944639e-06, + "track": 2.2812498627899913e-06, + "acceleration": 2.8491633656813065e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0398698577773757e-05, + "observation_loss": 9.565969776303973e-06, + "chamfer": 7.312893558264477e-06, + "track": 2.2530764454131713e-06, + "acceleration": 8.327292562171351e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.04528407973703e-05, + "observation_loss": 9.67644064076012e-06, + "chamfer": 7.380437637038995e-06, + "track": 2.296003231094801e-06, + "acceleration": 7.763998723930854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0105675755767152e-05, + "observation_loss": 9.799890904105268e-06, + "chamfer": 7.454783371940721e-06, + "track": 2.3451075321645476e-06, + "acceleration": 3.057848800835927e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.006870843411889e-05, + "observation_loss": 9.960564057109877e-06, + "chamfer": 7.536687917308882e-06, + "track": 2.42387591242732e-06, + "acceleration": 1.0814393647251563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0270691745972726e-05, + "observation_loss": 1.0136425771634094e-05, + "chamfer": 7.624855243193451e-06, + "track": 2.5115700736932922e-06, + "acceleration": 1.3426615907974337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0462676073075272e-05, + "observation_loss": 1.0388420378149021e-05, + "chamfer": 7.788374205119908e-06, + "track": 2.600045945655438e-06, + "acceleration": 7.425563808283187e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0813992957992014e-05, + "observation_loss": 1.0720419595600106e-05, + "chamfer": 8.014914783416316e-06, + "track": 2.7055050395574654e-06, + "acceleration": 9.357305685853134e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1049933164031245e-05, + "observation_loss": 1.0954388926620595e-05, + "chamfer": 8.172575689968653e-06, + "track": 2.7818127819045912e-06, + "acceleration": 9.554387503385442e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1136279681522865e-05, + "observation_loss": 1.104132752516307e-05, + "chamfer": 8.213829460146371e-06, + "track": 2.8274978376430226e-06, + "acceleration": 9.495255426372751e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1249701856286265e-05, + "observation_loss": 1.1117734175059013e-05, + "chamfer": 8.263253221230116e-06, + "track": 2.8544811812025728e-06, + "acceleration": 1.3196800807691034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1357573384884745e-05, + "observation_loss": 1.1211264791199937e-05, + "chamfer": 8.312700629176106e-06, + "track": 2.8985643893975066e-06, + "acceleration": 1.4630822420258482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1292134331597481e-05, + "observation_loss": 1.12176576294587e-05, + "chamfer": 8.304465154651552e-06, + "track": 2.913192474807147e-06, + "acceleration": 7.447651029224289e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1442903996794485e-05, + "observation_loss": 1.1221245586057194e-05, + "chamfer": 8.307321877509821e-06, + "track": 2.913923935921048e-06, + "acceleration": 2.2165804125506838e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1404184078855906e-05, + "observation_loss": 1.1291244845779147e-05, + "chamfer": 8.342537512362469e-06, + "track": 2.9487075607903535e-06, + "acceleration": 1.1293938229073319e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1462411748652812e-05, + "observation_loss": 1.1370153515599668e-05, + "chamfer": 8.37761126604164e-06, + "track": 2.992541794810677e-06, + "acceleration": 9.225823305314407e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1523200555529911e-05, + "observation_loss": 1.1429573532950599e-05, + "chamfer": 8.412306669924874e-06, + "track": 3.017266863025725e-06, + "acceleration": 9.362706521187647e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.160192823590478e-05, + "observation_loss": 1.1517267921590246e-05, + "chamfer": 8.460799108434003e-06, + "track": 3.056468585782568e-06, + "acceleration": 8.466022194397738e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.15789052870241e-05, + "observation_loss": 1.1470528988866135e-05, + "chamfer": 8.434735718765296e-06, + "track": 3.0357928153534885e-06, + "acceleration": 1.0837645447736577e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.140037966251839e-05, + "observation_loss": 1.130815962824272e-05, + "chamfer": 8.332648576470092e-06, + "track": 2.9755112791463034e-06, + "acceleration": 9.222046060131106e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.247956789849317e-06, + "chamfer_mean": 5.661742953577686e-06, + "track_mean": 1.548617389583266e-06, + "acceleration_mean": 1.0375964672644973e-06, + "observation_score": 7.210360325397384e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.415861080000468 + }, + "score_arrays_file": "pass_scores/pass_end_0305.npz", + "score_arrays_sha256": "c3f93626aa3ad991257a3ff7dc59fd40f9f70bd14abbbf8c11dc389da2a059e1" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0306.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0306.json new file mode 100644 index 0000000000000000000000000000000000000000..eed89600065bc2c4804529f0ffae4c6fa37142a1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0306.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29376, + "completed_passes": 306, + "snapshot": "pass_end_0306", + "candidate": true, + "snapshot_arrays_sha256": "097e60aee0395727ab02efc5808f6306207d008f24736ebfcccf5fb1153e820c", + "score": 7.207071291759348e-06, + "score_result": { + "score": 7.207071291759348e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8729230052704224e-06, + 3.1579907044942956e-06, + 3.279010343248956e-06, + 3.711882754942053e-06, + 4.231556431477657e-06, + 4.444213573151501e-06, + 4.202973286737688e-06, + 4.063318556291051e-06, + 4.00547332901624e-06, + 4.112384431209648e-06, + 4.493354936130345e-06, + 4.955152689944953e-06, + 5.264079391054111e-06, + 5.473409146361519e-06, + 5.469900315802079e-06, + 5.360645445762202e-06, + 5.003496880817693e-06, + 4.614457793650217e-06, + 4.431361503520748e-06, + 4.4120843085693195e-06, + 4.369759608380264e-06, + 4.2685937842179555e-06, + 4.2122269405808765e-06, + 4.207255642540986e-06, + 4.218608410155866e-06, + 4.388648449094035e-06, + 4.786271802004194e-06, + 5.059627255832311e-06, + 5.059492650616448e-06, + 5.017891453462653e-06, + 5.115556632517837e-06, + 5.295518349157646e-06, + 5.531510396394879e-06, + 5.761928150604945e-06, + 5.83816654398106e-06, + 5.965377113170689e-06, + 6.216088877408765e-06, + 6.315432983683422e-06, + 6.0029651649529114e-06, + 5.606401828117669e-06, + 5.589297870756127e-06, + 5.8656346482166555e-06, + 6.0488978306239005e-06, + 6.234821739781182e-06, + 6.315953214652836e-06, + 6.367196874634828e-06, + 6.505922556243604e-06, + 6.971926268306561e-06, + 7.59763543101144e-06, + 7.994717634574044e-06, + 7.844660103728529e-06, + 7.588084827148123e-06, + 7.36442507331958e-06, + 7.17285365681164e-06, + 7.151576483011013e-06, + 7.1891040533955675e-06, + 7.251203896885272e-06, + 7.312431989703327e-06, + 7.376525900326669e-06, + 7.502143034798792e-06, + 7.647417987755034e-06, + 7.795018973411061e-06, + 8.134958989103325e-06, + 8.614560101705138e-06, + 9.178779691865202e-06, + 9.483872418059036e-06, + 9.692719686427154e-06, + 9.892135494737886e-06, + 9.994505489885341e-06, + 9.896022675093263e-06, + 9.642345503380056e-06, + 9.55139421421336e-06, + 9.48727029026486e-06, + 9.32230796024669e-06, + 9.249056347471196e-06, + 9.412764484295622e-06, + 9.649397725297604e-06, + 9.563442290527746e-06, + 9.671670341049321e-06, + 9.793824574444443e-06, + 9.952348591468763e-06, + 1.0126849701919127e-05, + 1.037694892147556e-05, + 1.0708803529269062e-05, + 1.0941485925286543e-05, + 1.1028284461644944e-05, + 1.1104304576292634e-05, + 1.1198693755432032e-05, + 1.1205303962924518e-05, + 1.1208510841242969e-05, + 1.1278849342488684e-05, + 1.1357856237736996e-05, + 1.1417336281738244e-05, + 1.1504368558235e-05, + 1.1457789696578402e-05, + 1.1295640433672816e-05 + ] + ], + "episode_mean_losses": [ + 7.207071291759348e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8729230052704224e-06, + "observation_loss": 2.8729230052704224e-06, + "chamfer": 2.4370649498450803e-06, + "track": 4.358580838470516e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.147081563132815e-05, + "observation_loss": 3.1579907044942956e-06, + "chamfer": 2.6708910354500404e-06, + "track": 4.870996690442553e-07, + "acceleration": 3.8312824472086504e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3267450160346925e-05, + "observation_loss": 3.279010343248956e-06, + "chamfer": 2.7761798264691606e-06, + "track": 5.02830630466633e-07, + "acceleration": 1.998843981709797e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0164486411667895e-05, + "observation_loss": 3.711882754942053e-06, + "chamfer": 3.1303395644499687e-06, + "track": 5.815431336486654e-07, + "acceleration": 6.452603429352166e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.024851700203726e-06, + "observation_loss": 4.231556431477657e-06, + "chamfer": 3.549252596712904e-06, + "track": 6.823037210779148e-07, + "acceleration": 1.7932951550392318e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.589878128375858e-06, + "observation_loss": 4.444213573151501e-06, + "chamfer": 3.7188303849688964e-06, + "track": 7.253830176523479e-07, + "acceleration": 1.1456647825980326e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.876743332715705e-06, + "observation_loss": 4.202973286737688e-06, + "chamfer": 3.522354518281645e-06, + "track": 6.806189389862993e-07, + "acceleration": 6.737698754477606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.598743544192985e-06, + "observation_loss": 4.063318556291051e-06, + "chamfer": 3.410871840969776e-06, + "track": 6.524466584778565e-07, + "acceleration": 5.354248742150958e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.468959104997339e-06, + "observation_loss": 4.00547332901624e-06, + "chamfer": 3.366974397067679e-06, + "track": 6.384989319485612e-07, + "acceleration": 4.6348588966793614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.417165655468125e-06, + "observation_loss": 4.112384431209648e-06, + "chamfer": 3.4546942515589762e-06, + "track": 6.576902933375095e-07, + "acceleration": 3.0478102530651086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.623545919457683e-06, + "observation_loss": 4.493354936130345e-06, + "chamfer": 3.7645572774636094e-06, + "track": 7.287976018233167e-07, + "acceleration": 1.3019106859246676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.043360488343751e-06, + "observation_loss": 4.955152689944953e-06, + "chamfer": 4.135084054723848e-06, + "track": 8.200684646908485e-07, + "acceleration": 8.820784103136248e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3525050134339835e-06, + "observation_loss": 5.264079391054111e-06, + "chamfer": 4.388962224766146e-06, + "track": 8.751173368182208e-07, + "acceleration": 8.842562237987295e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.577361207542708e-06, + "observation_loss": 5.473409146361519e-06, + "chamfer": 4.566998995869653e-06, + "track": 9.064099231181899e-07, + "acceleration": 1.0395215355174514e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.528626388695557e-06, + "observation_loss": 5.469900315802079e-06, + "chamfer": 4.567866199067794e-06, + "track": 9.020342304211226e-07, + "acceleration": 5.872588104693932e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.4812762755318545e-06, + "observation_loss": 5.360645445762202e-06, + "chamfer": 4.478715254663257e-06, + "track": 8.819300774121075e-07, + "acceleration": 1.2063105714332778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.208752099861158e-06, + "observation_loss": 5.003496880817693e-06, + "chamfer": 4.18603030993836e-06, + "track": 8.174665140359139e-07, + "acceleration": 2.0525523325432005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.9183649935002904e-06, + "observation_loss": 4.614457793650217e-06, + "chamfer": 3.864678546960931e-06, + "track": 7.497791330024484e-07, + "acceleration": 3.0390725669349195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.6023533286643215e-06, + "observation_loss": 4.431361503520748e-06, + "chamfer": 3.7110817174834665e-06, + "track": 7.202796155070246e-07, + "acceleration": 1.709916404024625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.615703346644295e-06, + "observation_loss": 4.4120843085693195e-06, + "chamfer": 3.691146730488981e-06, + "track": 7.209376349237573e-07, + "acceleration": 2.0361918018352299e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.651363269658759e-06, + "observation_loss": 4.369759608380264e-06, + "chamfer": 3.6545932289300254e-06, + "track": 7.151662657634006e-07, + "acceleration": 2.816038602304616e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.543372597254347e-06, + "observation_loss": 4.2685937842179555e-06, + "chamfer": 3.5717557693715207e-06, + "track": 6.968381285332725e-07, + "acceleration": 2.7477886987981037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.555830400931882e-06, + "observation_loss": 4.2122269405808765e-06, + "chamfer": 3.530762796799536e-06, + "track": 6.814642574681784e-07, + "acceleration": 3.4360343192929577e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.654124495573342e-06, + "observation_loss": 4.207255642540986e-06, + "chamfer": 3.5229477362008765e-06, + "track": 6.843077358098526e-07, + "acceleration": 4.4686868250209955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.629763225239003e-06, + "observation_loss": 4.218608410155866e-06, + "chamfer": 3.5161751839041244e-06, + "track": 7.024333399385796e-07, + "acceleration": 4.111547298180085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.691692538472125e-06, + "observation_loss": 4.388648449094035e-06, + "chamfer": 3.6379908578965114e-06, + "track": 7.506576480409421e-07, + "acceleration": 3.0304425990834716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.124664312461391e-06, + "observation_loss": 4.786271802004194e-06, + "chamfer": 3.938469490094576e-06, + "track": 8.47802255066199e-07, + "acceleration": 3.383926809874538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.298728865454905e-06, + "observation_loss": 5.059627255832311e-06, + "chamfer": 4.148225798417116e-06, + "track": 9.114016847888706e-07, + "acceleration": 2.391017233094317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.413408416643506e-06, + "observation_loss": 5.059492650616448e-06, + "chamfer": 4.153499048697995e-06, + "track": 9.059935450750345e-07, + "acceleration": 3.5391568076192925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.219514150667237e-06, + "observation_loss": 5.017891453462653e-06, + "chamfer": 4.130944034841377e-06, + "track": 8.869473049344379e-07, + "acceleration": 2.0162248404176353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.379967205954017e-06, + "observation_loss": 5.115556632517837e-06, + "chamfer": 4.216548404656351e-06, + "track": 8.990081710180675e-07, + "acceleration": 2.644107439664367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.750882792199263e-06, + "observation_loss": 5.295518349157646e-06, + "chamfer": 4.36068785347743e-06, + "track": 9.348304388367978e-07, + "acceleration": 4.5536427251136047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.223873697308591e-06, + "observation_loss": 5.531510396394879e-06, + "chamfer": 4.547987373371143e-06, + "track": 9.83522909336898e-07, + "acceleration": 6.923631872268743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.460696113208542e-06, + "observation_loss": 5.761928150604945e-06, + "chamfer": 4.718441232398618e-06, + "track": 1.0434866908326512e-06, + "acceleration": 6.98767962603597e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.570598998223431e-06, + "observation_loss": 5.83816654398106e-06, + "chamfer": 4.77481489724596e-06, + "track": 1.0633517604219378e-06, + "acceleration": 7.324325679292087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.745893188053742e-06, + "observation_loss": 5.965377113170689e-06, + "chamfer": 4.854105554841226e-06, + "track": 1.1112716720163007e-06, + "acceleration": 7.805161885698908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.476752787420992e-06, + "observation_loss": 6.216088877408765e-06, + "chamfer": 5.030759439250687e-06, + "track": 1.1853295518449158e-06, + "acceleration": 2.606639668556454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.798875347158173e-06, + "observation_loss": 6.315432983683422e-06, + "chamfer": 5.1143651944585145e-06, + "track": 1.2010680165985832e-06, + "acceleration": 4.834425340050075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.171207587613026e-06, + "observation_loss": 6.0029651649529114e-06, + "chamfer": 4.888818239123793e-06, + "track": 1.1141468121422804e-06, + "acceleration": 1.6824240844925953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.746518581872806e-06, + "observation_loss": 5.606401828117669e-06, + "chamfer": 4.5814135773980524e-06, + "track": 1.0249882507196162e-06, + "acceleration": 1.4011656901402603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.871723260497674e-06, + "observation_loss": 5.589297870756127e-06, + "chamfer": 4.565805738820927e-06, + "track": 1.0234921319351997e-06, + "acceleration": 2.824253044764191e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.127092092356179e-06, + "observation_loss": 5.8656346482166555e-06, + "chamfer": 4.7667031140008476e-06, + "track": 1.0989316479026456e-06, + "acceleration": 2.614576715131989e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.188194220158039e-06, + "observation_loss": 6.0488978306239005e-06, + "chamfer": 4.890368018095614e-06, + "track": 1.1585296988414484e-06, + "acceleration": 1.3929631847986457e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.27164308752981e-06, + "observation_loss": 6.234821739781182e-06, + "chamfer": 5.0261037358723115e-06, + "track": 1.2087182312825462e-06, + "acceleration": 3.682130511606374e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.400828169716988e-06, + "observation_loss": 6.315953214652836e-06, + "chamfer": 5.08357334183529e-06, + "track": 1.2323796454438707e-06, + "acceleration": 8.487504032927973e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.519123417092487e-06, + "observation_loss": 6.367196874634828e-06, + "chamfer": 5.121912181493826e-06, + "track": 1.2452849205146777e-06, + "acceleration": 1.5192671298791538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.703151029796572e-06, + "observation_loss": 6.505922556243604e-06, + "chamfer": 5.231031536823139e-06, + "track": 1.2748911331073032e-06, + "acceleration": 1.9722858723980607e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.135493433452211e-06, + "observation_loss": 6.971926268306561e-06, + "chamfer": 5.579314802162116e-06, + "track": 1.392611238770769e-06, + "acceleration": 1.635672646216335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.742859452264383e-06, + "observation_loss": 7.59763543101144e-06, + "chamfer": 6.019109605404083e-06, + "track": 1.5785258256073575e-06, + "acceleration": 1.4522389335525077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.282894668809604e-06, + "observation_loss": 7.994717634574044e-06, + "chamfer": 6.304396265477408e-06, + "track": 1.6903214827834745e-06, + "acceleration": 2.8817677844017453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.117923243844416e-06, + "observation_loss": 7.844660103728529e-06, + "chamfer": 6.205793852132047e-06, + "track": 1.6388661379096447e-06, + "acceleration": 2.732627422119549e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.84487110649934e-06, + "observation_loss": 7.588084827148123e-06, + "chamfer": 6.031556495145196e-06, + "track": 1.5565284456897643e-06, + "acceleration": 2.567865067248931e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.451144483638927e-06, + "observation_loss": 7.36442507331958e-06, + "chamfer": 5.865340881427983e-06, + "track": 1.4990840782047599e-06, + "acceleration": 8.67192824216545e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2262614594365004e-06, + "observation_loss": 7.17285365681164e-06, + "chamfer": 5.721642082789913e-06, + "track": 1.4512113466480514e-06, + "acceleration": 5.340767117445466e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.2148664003179874e-06, + "observation_loss": 7.151576483011013e-06, + "chamfer": 5.701826012227684e-06, + "track": 1.4497504707833286e-06, + "acceleration": 6.328997415039339e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.269806701515336e-06, + "observation_loss": 7.1891040533955675e-06, + "chamfer": 5.7206621022487525e-06, + "track": 1.4684418374599773e-06, + "acceleration": 8.070281865002471e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.294986971828621e-06, + "observation_loss": 7.251203896885272e-06, + "chamfer": 5.7639153965283185e-06, + "track": 1.4872882729832781e-06, + "acceleration": 4.378299323093415e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.519971859437646e-06, + "observation_loss": 7.312431989703327e-06, + "chamfer": 5.795007382403128e-06, + "track": 1.5174244936133618e-06, + "acceleration": 2.0753977025833592e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.866164196457248e-06, + "observation_loss": 7.376525900326669e-06, + "chamfer": 5.8448549680178985e-06, + "track": 1.531670818621933e-06, + "acceleration": 4.896379550700658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.495610927639063e-06, + "observation_loss": 7.502143034798792e-06, + "chamfer": 5.925125151406974e-06, + "track": 1.5770177697049803e-06, + "acceleration": 9.934678928402718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.072366083273664e-06, + "observation_loss": 7.647417987755034e-06, + "chamfer": 6.040042990207439e-06, + "track": 1.6073752249212703e-06, + "acceleration": 1.4249477544581168e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.632956451037899e-06, + "observation_loss": 7.795018973411061e-06, + "chamfer": 6.153606136649614e-06, + "track": 1.6414129504482844e-06, + "acceleration": 8.379374776268378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.488361345371231e-06, + "observation_loss": 8.134958989103325e-06, + "chamfer": 6.401316113624489e-06, + "track": 1.7336424207314849e-06, + "acceleration": 3.534027257501293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.887502190191299e-06, + "observation_loss": 8.614560101705138e-06, + "chamfer": 6.730829227308277e-06, + "track": 1.8837305333363474e-06, + "acceleration": 2.7294186111248564e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.293253242503852e-06, + "observation_loss": 9.178779691865202e-06, + "chamfer": 7.1150707299239e-06, + "track": 2.0637091893149773e-06, + "acceleration": 1.1447357906035904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.570396287017502e-06, + "observation_loss": 9.483872418059036e-06, + "chamfer": 7.321325483644614e-06, + "track": 2.162547389161773e-06, + "acceleration": 8.652417449184213e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.964436685550027e-06, + "observation_loss": 9.692719686427154e-06, + "chamfer": 7.463923793693539e-06, + "track": 2.228795437986264e-06, + "acceleration": 2.7171736860509554e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0061392458737828e-05, + "observation_loss": 9.892135494737886e-06, + "chamfer": 7.5747921073343605e-06, + "track": 2.3173429326561745e-06, + "acceleration": 1.6925694978908723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0109653885592707e-05, + "observation_loss": 9.994505489885341e-06, + "chamfer": 7.632185770489741e-06, + "track": 2.3623197193956003e-06, + "acceleration": 1.1514838860193777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0215385373157915e-05, + "observation_loss": 9.896022675093263e-06, + "chamfer": 7.567556622234406e-06, + "track": 2.3284665076062083e-06, + "acceleration": 3.193628685949079e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0441723134135827e-05, + "observation_loss": 9.642345503380056e-06, + "chamfer": 7.413364983221982e-06, + "track": 2.2289807475317502e-06, + "acceleration": 7.993774033820955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.00349589047255e-05, + "observation_loss": 9.55139421421336e-06, + "chamfer": 7.3446185524517205e-06, + "track": 2.206775889135315e-06, + "acceleration": 4.835648041989771e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.702457646199036e-06, + "observation_loss": 9.48727029026486e-06, + "chamfer": 7.300176093849586e-06, + "track": 2.1870946511626244e-06, + "acceleration": 2.151875406752879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.594835319148842e-06, + "observation_loss": 9.32230796024669e-06, + "chamfer": 7.1807007770985365e-06, + "track": 2.1416069557744777e-06, + "acceleration": 2.725272452153149e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.825460438150913e-06, + "observation_loss": 9.249056347471196e-06, + "chamfer": 7.119499059626833e-06, + "track": 2.129557060470688e-06, + "acceleration": 5.764036927757843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2779352800862398e-05, + "observation_loss": 9.412764484295622e-06, + "chamfer": 7.214418019430013e-06, + "track": 2.1983462374919327e-06, + "acceleration": 3.366588089193101e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2504664482548833e-05, + "observation_loss": 9.649397725297604e-06, + "chamfer": 7.369489594566403e-06, + "track": 2.279908130731201e-06, + "acceleration": 2.8552663025038783e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0389936505816877e-05, + "observation_loss": 9.563442290527746e-06, + "chamfer": 7.311172339541372e-06, + "track": 2.2522694962390233e-06, + "acceleration": 8.264943289759685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0462160389579367e-05, + "observation_loss": 9.671670341049321e-06, + "chamfer": 7.376969733741134e-06, + "track": 2.294700834681862e-06, + "acceleration": 7.904903327471402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.010673167911591e-05, + "observation_loss": 9.793824574444443e-06, + "chamfer": 7.45086890674429e-06, + "track": 2.342955212952802e-06, + "acceleration": 3.1290736046685197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.006499951472506e-05, + "observation_loss": 9.952348591468763e-06, + "chamfer": 7.531610208388884e-06, + "track": 2.4207386104535544e-06, + "acceleration": 1.1265064614462972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.026422432914842e-05, + "observation_loss": 1.0126849701919127e-05, + "chamfer": 7.619072675879579e-06, + "track": 2.5077767986658728e-06, + "acceleration": 1.3737445669903536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0450475201650988e-05, + "observation_loss": 1.037694892147556e-05, + "chamfer": 7.781418389640749e-06, + "track": 2.595530986582162e-06, + "acceleration": 7.352626596457412e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0799250048876274e-05, + "observation_loss": 1.0708803529269062e-05, + "chamfer": 8.008121767488774e-06, + "track": 2.700681761780288e-06, + "acceleration": 9.044659776691333e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1039678611268755e-05, + "observation_loss": 1.0941485925286543e-05, + "chamfer": 8.164781320374459e-06, + "track": 2.7767046049120836e-06, + "acceleration": 9.81922383402889e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1127547622891143e-05, + "observation_loss": 1.1028284461644944e-05, + "chamfer": 8.206106031138916e-06, + "track": 2.8221786578797037e-06, + "acceleration": 9.926349520128497e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1238235856581014e-05, + "observation_loss": 1.1104304576292634e-05, + "chamfer": 8.255099601228721e-06, + "track": 2.8492054298112635e-06, + "acceleration": 1.3393155029461923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1346019164193422e-05, + "observation_loss": 1.1198693755432032e-05, + "chamfer": 8.305429219035432e-06, + "track": 2.8932647637702757e-06, + "acceleration": 1.473255508699367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.128264830185799e-05, + "observation_loss": 1.1205303962924518e-05, + "chamfer": 8.297399290313479e-06, + "track": 2.9079048999847146e-06, + "acceleration": 7.734397655667635e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1435482520028017e-05, + "observation_loss": 1.1208510841242969e-05, + "chamfer": 8.299840374093037e-06, + "track": 2.9086706945236074e-06, + "acceleration": 2.2697143720051827e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1395418368920218e-05, + "observation_loss": 1.1278849342488684e-05, + "chamfer": 8.335379789059516e-06, + "track": 2.9434700081765186e-06, + "acceleration": 1.1656893406097879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1450436431914568e-05, + "observation_loss": 1.1357856237736996e-05, + "chamfer": 8.370543582714163e-06, + "track": 2.987312882396509e-06, + "acceleration": 9.257979627363966e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.151069864135934e-05, + "observation_loss": 1.1417336281738244e-05, + "chamfer": 8.405422704527155e-06, + "track": 3.011913804584765e-06, + "acceleration": 9.33624448862247e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.158868872153107e-05, + "observation_loss": 1.1504368558235e-05, + "chamfer": 8.453372174699325e-06, + "track": 3.050996610909351e-06, + "acceleration": 8.431971565414642e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1565710337890778e-05, + "observation_loss": 1.1457789696578402e-05, + "chamfer": 8.427467946603429e-06, + "track": 3.030321522601298e-06, + "acceleration": 1.0792084736976904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1388061466277577e-05, + "observation_loss": 1.1295640433672816e-05, + "chamfer": 8.325490853167139e-06, + "track": 2.9701491257583257e-06, + "acceleration": 9.242147314125759e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.244185051372218e-06, + "chamfer_mean": 5.659566729339834e-06, + "track_mean": 1.5475045662682874e-06, + "acceleration_mean": 1.037113741849301e-06, + "observation_score": 7.207071291759348e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.428564613999697 + }, + "score_arrays_file": "pass_scores/pass_end_0306.npz", + "score_arrays_sha256": "b24fcc6eb13235227fa21bb0809b98ef12861960cf2e32a7b89c20f2cc0aac27" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0307.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0307.json new file mode 100644 index 0000000000000000000000000000000000000000..5b4ea8d195083d0ecba5fb381032ba197e056d6f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0307.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29472, + "completed_passes": 307, + "snapshot": "pass_end_0307", + "candidate": true, + "snapshot_arrays_sha256": "32c6aa2849e8b5d5d6e7094ecebe25457debdd582e6d8285bdbaf0fa1bfad787", + "score": 7.2028765245590876e-06, + "score_result": { + "score": 7.2028765245590876e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8728475172101753e-06, + 3.1578911148244515e-06, + 3.2776138141343836e-06, + 3.710374130605487e-06, + 4.229884780215798e-06, + 4.442996214493178e-06, + 4.201370757073164e-06, + 4.061145773448516e-06, + 4.003356025350513e-06, + 4.110132067580707e-06, + 4.491087111091474e-06, + 4.9530585783941206e-06, + 5.262598733679624e-06, + 5.4716192607884295e-06, + 5.468279596243519e-06, + 5.358466751204105e-06, + 5.000586497772019e-06, + 4.611364147422137e-06, + 4.428380179888336e-06, + 4.409775101521518e-06, + 4.367429937701672e-06, + 4.264954441168811e-06, + 4.2073165786860045e-06, + 4.202568106848048e-06, + 4.21535787609173e-06, + 4.3872473725059535e-06, + 4.785373675986193e-06, + 5.058023361925734e-06, + 5.0567123253131285e-06, + 5.013876034354325e-06, + 5.11268535774434e-06, + 5.2969876378483605e-06, + 5.534392130357446e-06, + 5.7648244364827406e-06, + 5.839601271873107e-06, + 5.966241133137373e-06, + 6.215955181687605e-06, + 6.316678081930149e-06, + 6.006523108226247e-06, + 5.606516424450092e-06, + 5.585425697063329e-06, + 5.861495992576238e-06, + 6.045684131095186e-06, + 6.231710358406417e-06, + 6.313292033155449e-06, + 6.364558430504985e-06, + 6.503268650703831e-06, + 6.96968390911934e-06, + 7.5954394560540095e-06, + 7.992070095497184e-06, + 7.84203893999802e-06, + 7.585844286950305e-06, + 7.362412361544557e-06, + 7.170579920057207e-06, + 7.1489666879642755e-06, + 7.186138645920437e-06, + 7.248300335049862e-06, + 7.309849479497643e-06, + 7.374381311819889e-06, + 7.500034371332731e-06, + 7.64556898502633e-06, + 7.79317724663997e-06, + 8.133682058542036e-06, + 8.614001671958249e-06, + 9.178987966151908e-06, + 9.484910151513759e-06, + 9.693644642538857e-06, + 9.893146852846257e-06, + 9.995475920732133e-06, + 9.896806659526192e-06, + 9.641857104725204e-06, + 9.550595677865203e-06, + 9.485946065979078e-06, + 9.31985596253071e-06, + 9.246366062143352e-06, + 9.404760021425318e-06, + 9.640184543968644e-06, + 9.55763698584633e-06, + 9.663970558904111e-06, + 9.78543539531529e-06, + 9.942285942088347e-06, + 1.0115711120306514e-05, + 1.0363235560362227e-05, + 1.0694137927202974e-05, + 1.0925179594778456e-05, + 1.101214365917258e-05, + 1.108731248677941e-05, + 1.1182521120645106e-05, + 1.1189454198756721e-05, + 1.1191918019903824e-05, + 1.1262278349022381e-05, + 1.1341333447489887e-05, + 1.1401203664718196e-05, + 1.148753653978929e-05, + 1.144104498962406e-05, + 1.1279571481281891e-05 + ] + ], + "episode_mean_losses": [ + 7.2028765245590876e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8728475172101753e-06, + "observation_loss": 2.8728475172101753e-06, + "chamfer": 2.4369926450162893e-06, + "track": 4.358549006155954e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146926221437752e-05, + "observation_loss": 3.1578911148244515e-06, + "chamfer": 2.670800540727214e-06, + "track": 4.870906309406564e-07, + "acceleration": 3.8311372918542475e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.325843888684176e-05, + "observation_loss": 3.2776138141343836e-06, + "chamfer": 2.7750199933507247e-06, + "track": 5.025939344704966e-07, + "acceleration": 1.9980825527454726e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0160081728827208e-05, + "observation_loss": 3.710374130605487e-06, + "chamfer": 3.129085371256224e-06, + "track": 5.812887593492633e-07, + "acceleration": 6.449707598221721e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 6.009682692820206e-06, + "observation_loss": 4.229884780215798e-06, + "chamfer": 3.547878350218525e-06, + "track": 6.820064299972728e-07, + "acceleration": 1.779797685230733e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.584886821452528e-06, + "observation_loss": 4.442996214493178e-06, + "chamfer": 3.7178178899921477e-06, + "track": 7.251784381878679e-07, + "acceleration": 1.1418908343330259e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.873363650403917e-06, + "observation_loss": 4.201370757073164e-06, + "chamfer": 3.5210161968279863e-06, + "track": 6.803546170885966e-07, + "acceleration": 6.719930638610094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.598301075020572e-06, + "observation_loss": 4.061145773448516e-06, + "chamfer": 3.409058535908116e-06, + "track": 6.520873512272374e-07, + "acceleration": 5.371554152588942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.46674857812468e-06, + "observation_loss": 4.003356025350513e-06, + "chamfer": 3.3652108868409414e-06, + "track": 6.381453090398281e-07, + "acceleration": 4.6339260961758555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.414200247992994e-06, + "observation_loss": 4.110132067580707e-06, + "chamfer": 3.452814553384087e-06, + "track": 6.573172868229449e-07, + "acceleration": 3.0406823725570575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.621505013346905e-06, + "observation_loss": 4.491087111091474e-06, + "chamfer": 3.762675987672992e-06, + "track": 7.284110097316443e-07, + "acceleration": 1.304177885685931e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.0413318604114465e-06, + "observation_loss": 4.9530585783941206e-06, + "chamfer": 4.133355560043128e-06, + "track": 8.197030751944112e-07, + "acceleration": 8.827344544215521e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.351185791369062e-06, + "observation_loss": 5.262598733679624e-06, + "chamfer": 4.387734406918753e-06, + "track": 8.748642130740336e-07, + "acceleration": 8.858713584913858e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.575365776167018e-06, + "observation_loss": 5.4716192607884295e-06, + "chamfer": 4.565529252431588e-06, + "track": 9.060898378265847e-07, + "acceleration": 1.0374629511034072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.527237590285949e-06, + "observation_loss": 5.468279596243519e-06, + "chamfer": 4.56655607194989e-06, + "track": 9.01723296919954e-07, + "acceleration": 5.895788035559235e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.47920672033797e-06, + "observation_loss": 5.358466751204105e-06, + "chamfer": 4.476949470699765e-06, + "track": 8.815173373477592e-07, + "acceleration": 1.2073977018189908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.205607521929778e-06, + "observation_loss": 5.000586497772019e-06, + "chamfer": 4.183648798061768e-06, + "track": 8.169374723365763e-07, + "acceleration": 2.0502103836861352e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.915367298963247e-06, + "observation_loss": 4.611364147422137e-06, + "chamfer": 3.862151970679406e-06, + "track": 7.492122904295684e-07, + "acceleration": 3.0400309469769127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.5986321310920175e-06, + "observation_loss": 4.428380179888336e-06, + "chamfer": 3.708611984620802e-06, + "track": 7.197680247372773e-07, + "acceleration": 1.702518375168438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.612604243448004e-06, + "observation_loss": 4.409775101521518e-06, + "chamfer": 3.6892315620207228e-06, + "track": 7.205433121271199e-07, + "acceleration": 2.0282914192648605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.649741640605498e-06, + "observation_loss": 4.367429937701672e-06, + "chamfer": 3.652674877230311e-06, + "track": 7.147549467845238e-07, + "acceleration": 2.8231193027750123e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.539236215350684e-06, + "observation_loss": 4.264954441168811e-06, + "chamfer": 3.5687558010977227e-06, + "track": 6.96198810601345e-07, + "acceleration": 2.742817741818726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.562381946016103e-06, + "observation_loss": 4.2073165786860045e-06, + "chamfer": 3.526711225276813e-06, + "track": 6.806055239394482e-07, + "acceleration": 3.5506556628206454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.680509391619125e-06, + "observation_loss": 4.202568106848048e-06, + "chamfer": 3.5190639664506307e-06, + "track": 6.835039698671608e-07, + "acceleration": 4.779412847710773e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.645728040486574e-06, + "observation_loss": 4.21535787609173e-06, + "chamfer": 3.513441697577946e-06, + "track": 7.019163490440405e-07, + "acceleration": 4.303701359731349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.695868483395316e-06, + "observation_loss": 4.3872473725059535e-06, + "chamfer": 3.636846713561681e-06, + "track": 7.504007726311102e-07, + "acceleration": 3.086212245761999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.1166798584745266e-06, + "observation_loss": 4.785373675986193e-06, + "chamfer": 3.9377227949444205e-06, + "track": 8.476507673549349e-07, + "acceleration": 3.3130638144029945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.2885843615513295e-06, + "observation_loss": 5.058023361925734e-06, + "chamfer": 4.146803348703543e-06, + "track": 9.112200700656103e-07, + "acceleration": 2.3056101383645e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.396584128902759e-06, + "observation_loss": 5.0567123253131285e-06, + "chamfer": 4.151195298618404e-06, + "track": 9.055169130078866e-07, + "acceleration": 3.398720025415969e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.210332801652839e-06, + "observation_loss": 5.013876034354325e-06, + "chamfer": 4.127664851694135e-06, + "track": 8.862112963470281e-07, + "acceleration": 1.9645698046133475e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.373990916268667e-06, + "observation_loss": 5.11268535774434e-06, + "chamfer": 4.214258296997286e-06, + "track": 8.984271175904723e-07, + "acceleration": 2.613055301026179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.746487659052946e-06, + "observation_loss": 5.2969876378483605e-06, + "chamfer": 4.361904302641051e-06, + "track": 9.350833920507284e-07, + "acceleration": 4.495001917348418e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.269428467930993e-06, + "observation_loss": 5.534392130357446e-06, + "chamfer": 4.550339326669928e-06, + "track": 9.840529173743562e-07, + "acceleration": 7.350363944169658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.5121648731292225e-06, + "observation_loss": 5.7648244364827406e-06, + "chamfer": 4.721149252873147e-06, + "track": 1.043675069922756e-06, + "acceleration": 7.47340436646482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.584533821296645e-06, + "observation_loss": 5.839601271873107e-06, + "chamfer": 4.776417881657835e-06, + "track": 1.0631832765284344e-06, + "acceleration": 7.449323788932816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.77614298183471e-06, + "observation_loss": 5.966241133137373e-06, + "chamfer": 4.855306087847566e-06, + "track": 1.1109349316029693e-06, + "acceleration": 8.099019055407553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.524496257043211e-06, + "observation_loss": 6.215955181687605e-06, + "chamfer": 5.030696229368914e-06, + "track": 1.1852587249450153e-06, + "acceleration": 3.08540933247059e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.803337782912422e-06, + "observation_loss": 6.316678081930149e-06, + "chamfer": 5.115195563121233e-06, + "track": 1.2014822914352408e-06, + "acceleration": 4.866598715125292e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.186267455632333e-06, + "observation_loss": 6.006523108226247e-06, + "chamfer": 4.891570824838709e-06, + "track": 1.1149521697007003e-06, + "acceleration": 1.7974430477352143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.748946477979189e-06, + "observation_loss": 5.606516424450092e-06, + "chamfer": 4.5814090299245436e-06, + "track": 1.025107167151873e-06, + "acceleration": 1.4242984036627604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.873318059457233e-06, + "observation_loss": 5.585425697063329e-06, + "chamfer": 4.562742105918005e-06, + "track": 1.0226835911453236e-06, + "acceleration": 2.8789244765903277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.1248069869179744e-06, + "observation_loss": 5.861495992576238e-06, + "chamfer": 4.76339573651785e-06, + "track": 1.0981001423715497e-06, + "acceleration": 2.633111364502838e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.183653567859437e-06, + "observation_loss": 6.045684131095186e-06, + "chamfer": 4.887803243036615e-06, + "track": 1.1578807743717334e-06, + "acceleration": 1.3796923781228543e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.268884135351982e-06, + "observation_loss": 6.231710358406417e-06, + "chamfer": 5.0236353672517e-06, + "track": 1.2080747637810418e-06, + "acceleration": 3.7173929712253084e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.399109224730637e-06, + "observation_loss": 6.313292033155449e-06, + "chamfer": 5.081460585643072e-06, + "track": 1.2318316748860525e-06, + "acceleration": 8.581719868061555e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.516545454360312e-06, + "observation_loss": 6.364558430504985e-06, + "chamfer": 5.119805337017169e-06, + "track": 1.244753093487816e-06, + "acceleration": 1.5198689595763426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.700267476844601e-06, + "observation_loss": 6.503268650703831e-06, + "chamfer": 5.228918325883569e-06, + "track": 1.2743502111334237e-06, + "acceleration": 1.969986413996594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.133887720556231e-06, + "observation_loss": 6.96968390911934e-06, + "chamfer": 5.57759312869166e-06, + "track": 1.3920906667408417e-06, + "acceleration": 1.6420378301518213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.741092304058839e-06, + "observation_loss": 7.5954394560540095e-06, + "chamfer": 6.017494342813734e-06, + "track": 1.5779452269271133e-06, + "acceleration": 1.4565293326995743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.278959285235032e-06, + "observation_loss": 7.992070095497184e-06, + "chamfer": 6.302478141151369e-06, + "track": 1.6895920680326526e-06, + "acceleration": 2.8688873499049805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.115875971270725e-06, + "observation_loss": 7.84203893999802e-06, + "chamfer": 6.203900738910306e-06, + "track": 1.638138314774551e-06, + "acceleration": 2.7383742917663767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.843268576834816e-06, + "observation_loss": 7.585844286950305e-06, + "chamfer": 6.029878477420425e-06, + "track": 1.5559655821562046e-06, + "acceleration": 2.574241193542548e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4493732427072246e-06, + "observation_loss": 7.362412361544557e-06, + "chamfer": 5.863736532774055e-06, + "track": 1.4986757150836638e-06, + "acceleration": 8.696100195493273e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.223728971439414e-06, + "observation_loss": 7.170579920057207e-06, + "chamfer": 5.71983991903835e-06, + "track": 1.4507401147056953e-06, + "acceleration": 5.3148859535667725e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.212072432594141e-06, + "observation_loss": 7.1489666879642755e-06, + "chamfer": 5.699760095012607e-06, + "track": 1.4492068203253439e-06, + "acceleration": 6.310578726242966e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2667307904339395e-06, + "observation_loss": 7.186138645920437e-06, + "chamfer": 5.718294232792687e-06, + "track": 1.4678445268145879e-06, + "acceleration": 8.059237188717816e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.292031114047859e-06, + "observation_loss": 7.248300335049862e-06, + "chamfer": 5.761587544839131e-06, + "track": 1.4867127902107313e-06, + "acceleration": 4.3730707943723246e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.517574431403773e-06, + "observation_loss": 7.309849479497643e-06, + "chamfer": 5.792910997115541e-06, + "track": 1.516938482382102e-06, + "acceleration": 2.0772507980382215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.866069609008264e-06, + "observation_loss": 7.374381311819889e-06, + "chamfer": 5.8430769058759324e-06, + "track": 1.5313046333176317e-06, + "acceleration": 4.916885814054694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.49803018354578e-06, + "observation_loss": 7.500034371332731e-06, + "chamfer": 5.923404387431219e-06, + "track": 1.5766297565278364e-06, + "acceleration": 9.97995925899886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.076648893824313e-06, + "observation_loss": 7.64556898502633e-06, + "chamfer": 6.038519131834619e-06, + "track": 1.6070499668785487e-06, + "acceleration": 1.4310801361716585e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.635339327156544e-06, + "observation_loss": 7.79317724663997e-06, + "chamfer": 6.15209046372911e-06, + "track": 1.6410866692240234e-06, + "acceleration": 8.42161682612641e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.48912986839423e-06, + "observation_loss": 8.133682058542036e-06, + "chamfer": 6.400171969289659e-06, + "track": 1.7335099755655392e-06, + "acceleration": 3.554479519607412e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.88832892087521e-06, + "observation_loss": 8.614001671958249e-06, + "chamfer": 6.730133918608772e-06, + "track": 1.883867525975802e-06, + "acceleration": 2.74327362603799e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.293717994296458e-06, + "observation_loss": 9.178987966151908e-06, + "chamfer": 7.114940672181547e-06, + "track": 2.064047521344037e-06, + "acceleration": 1.1473031236164388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.571547707309946e-06, + "observation_loss": 9.484910151513759e-06, + "chamfer": 7.321903922274942e-06, + "track": 2.1630062292388175e-06, + "acceleration": 8.663765527217038e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.965133358491585e-06, + "observation_loss": 9.693644642538857e-06, + "chamfer": 7.464495865860954e-06, + "track": 2.2291485493042273e-06, + "acceleration": 2.7148851700076193e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.006239926937269e-05, + "observation_loss": 9.893146852846257e-06, + "chamfer": 7.575440577056725e-06, + "track": 2.3177060484158574e-06, + "acceleration": 1.6925250179156137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0110848052136134e-05, + "observation_loss": 9.995475920732133e-06, + "chamfer": 7.632822416780982e-06, + "track": 2.362653958698502e-06, + "acceleration": 1.1537186139776168e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0216722330369521e-05, + "observation_loss": 9.896806659526192e-06, + "chamfer": 7.568101409560768e-06, + "track": 2.3287057047127746e-06, + "acceleration": 3.19915386626235e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.044197597366292e-05, + "observation_loss": 9.641857104725204e-06, + "chamfer": 7.4129529821220785e-06, + "track": 2.2289045773504768e-06, + "acceleration": 8.001190963113913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0034604201791808e-05, + "observation_loss": 9.550595677865203e-06, + "chamfer": 7.3441938184259925e-06, + "track": 2.206401859439211e-06, + "acceleration": 4.8400875130028e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.702369425212964e-06, + "observation_loss": 9.485946065979078e-06, + "chamfer": 7.299397111637518e-06, + "track": 2.1865484995942097e-06, + "acceleration": 2.1642367187268974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.592276910552755e-06, + "observation_loss": 9.31985596253071e-06, + "chamfer": 7.1791228037909605e-06, + "track": 2.1407327039923985e-06, + "acceleration": 2.7242117539572064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.803294233279303e-06, + "observation_loss": 9.246366062143352e-06, + "chamfer": 7.117959739844082e-06, + "track": 2.12840632229927e-06, + "acceleration": 5.56928512196464e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2771532965416554e-05, + "observation_loss": 9.404760021425318e-06, + "chamfer": 7.208658644231036e-06, + "track": 2.196101604567957e-06, + "acceleration": 3.366773171364912e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2510911801655311e-05, + "observation_loss": 9.640184543968644e-06, + "chamfer": 7.362960786849726e-06, + "track": 2.2772235297452426e-06, + "acceleration": 2.8707270303129917e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0380542335042264e-05, + "observation_loss": 9.55763698584633e-06, + "chamfer": 7.307255145860836e-06, + "track": 2.250381612611818e-06, + "acceleration": 8.229050081354217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0466928870300762e-05, + "observation_loss": 9.663970558904111e-06, + "chamfer": 7.371516403509304e-06, + "track": 2.292453928021132e-06, + "acceleration": 8.029580840229755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0107145499205217e-05, + "observation_loss": 9.78543539531529e-06, + "chamfer": 7.445315077347914e-06, + "track": 2.340119863220025e-06, + "acceleration": 3.217102459984744e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.006082948151743e-05, + "observation_loss": 9.942285942088347e-06, + "chamfer": 7.525235560024157e-06, + "track": 2.4170503820641898e-06, + "acceleration": 1.1854395154387021e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0256133464281447e-05, + "observation_loss": 1.0115711120306514e-05, + "chamfer": 7.612144599988824e-06, + "track": 2.503566747691366e-06, + "acceleration": 1.4042196028185572e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0437536730023567e-05, + "observation_loss": 1.0363235560362227e-05, + "chamfer": 7.77285185904475e-06, + "track": 2.590383701317478e-06, + "acceleration": 7.430121229390352e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0783021025417838e-05, + "observation_loss": 1.0694137927202974e-05, + "chamfer": 7.99912686488824e-06, + "track": 2.6950112896884093e-06, + "acceleration": 8.888344638080525e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1025796084140893e-05, + "observation_loss": 1.0925179594778456e-05, + "chamfer": 8.154728675435763e-06, + "track": 2.770451374090044e-06, + "acceleration": 1.00616702525258e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1114590051874984e-05, + "observation_loss": 1.101214365917258e-05, + "chamfer": 8.196272574423347e-06, + "track": 2.815871539496584e-06, + "acceleration": 1.0244606585274596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1223114597669337e-05, + "observation_loss": 1.108731248677941e-05, + "chamfer": 8.24454673420405e-06, + "track": 2.8427659799490357e-06, + "acceleration": 1.3580182667283225e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1330959750921465e-05, + "observation_loss": 1.1182521120645106e-05, + "chamfer": 8.29574310046155e-06, + "track": 2.8867777928098803e-06, + "acceleration": 1.484387155414879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1269711649219971e-05, + "observation_loss": 1.1189454198756721e-05, + "chamfer": 8.28798692964483e-06, + "track": 2.9014672691118903e-06, + "acceleration": 8.025764230978893e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1422984243836254e-05, + "observation_loss": 1.1191918019903824e-05, + "chamfer": 8.289716788567603e-06, + "track": 2.9022014587098965e-06, + "acceleration": 2.310666502580716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1380623618606478e-05, + "observation_loss": 1.1262278349022381e-05, + "chamfer": 8.325469025294296e-06, + "track": 2.9368088689807337e-06, + "acceleration": 1.1834527668952433e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1434235602791887e-05, + "observation_loss": 1.1341333447489887e-05, + "chamfer": 8.360654646821786e-06, + "track": 2.980678345920751e-06, + "acceleration": 9.290259583849547e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1494069440232124e-05, + "observation_loss": 1.1401203664718196e-05, + "chamfer": 8.396025805268437e-06, + "track": 3.00517831419711e-06, + "acceleration": 9.286561919452652e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1571671166166198e-05, + "observation_loss": 1.148753653978929e-05, + "chamfer": 8.443479600828141e-06, + "track": 3.0440564842137974e-06, + "acceleration": 8.413485375058372e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1549263035703916e-05, + "observation_loss": 1.144104498962406e-05, + "chamfer": 8.41761902847793e-06, + "track": 3.023425961146131e-06, + "acceleration": 1.0821802476357334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1371921573299915e-05, + "observation_loss": 1.1279571481281891e-05, + "chamfer": 8.316049388668034e-06, + "track": 2.9635216378665064e-06, + "acceleration": 9.235000675289484e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.242712915773609e-06, + "chamfer_mean": 5.656756120705116e-06, + "track_mean": 1.5461203828337489e-06, + "acceleration_mean": 1.0398364465406356e-06, + "observation_score": 7.2028765245590876e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4165100610007357 + }, + "score_arrays_file": "pass_scores/pass_end_0307.npz", + "score_arrays_sha256": "76df0412239c93b706f2863e7190977bc76fd45c22346c8d380587a25178c3de" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0308.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0308.json new file mode 100644 index 0000000000000000000000000000000000000000..c0049aeeb9e8c81e32eecd7dc97d5f648757f9fd --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0308.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29568, + "completed_passes": 308, + "snapshot": "pass_end_0308", + "candidate": true, + "snapshot_arrays_sha256": "38deb47f26c51cc05e48c1b48150035f933716d011bc0dc957934c83b7956e6d", + "score": 7.199223884886881e-06, + "score_result": { + "score": 7.199223884886881e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8727954486384988e-06, + 3.1577837944496423e-06, + 3.2761302009021165e-06, + 3.709024895215407e-06, + 4.228563739161473e-06, + 4.44192528448184e-06, + 4.199963768769521e-06, + 4.058965714648366e-06, + 4.001060005975887e-06, + 4.107472705072723e-06, + 4.488770628086058e-06, + 4.950938091496937e-06, + 5.260584202915197e-06, + 5.469775715027936e-06, + 5.4665565585310105e-06, + 5.356610017770436e-06, + 4.998588792659575e-06, + 4.609163170243846e-06, + 4.426170107763028e-06, + 4.407956112117972e-06, + 4.365618224255741e-06, + 4.2621932152542286e-06, + 4.203300250082975e-06, + 4.198675014777109e-06, + 4.212753992760554e-06, + 4.385871307022171e-06, + 4.784309567185119e-06, + 5.056037934991764e-06, + 5.053916083852528e-06, + 5.0099424697691575e-06, + 5.110290203447221e-06, + 5.298094492900418e-06, + 5.536440312425839e-06, + 5.76713273403584e-06, + 5.84174722462194e-06, + 5.967935067019425e-06, + 6.2175431594369e-06, + 6.319934982457198e-06, + 6.01110059506027e-06, + 5.606944796454627e-06, + 5.580730430665426e-06, + 5.856600637343945e-06, + 6.041873348294757e-06, + 6.227952326298691e-06, + 6.3097681959334295e-06, + 6.361313353409059e-06, + 6.500272775156191e-06, + 6.967205990804359e-06, + 7.593172995257191e-06, + 7.989286132215057e-06, + 7.839455065550283e-06, + 7.583970273117302e-06, + 7.3609480750747025e-06, + 7.1690851655148435e-06, + 7.147654287109617e-06, + 7.184144124039449e-06, + 7.246027053042781e-06, + 7.307789928745478e-06, + 7.37284835850005e-06, + 7.499278581235558e-06, + 7.645059667993337e-06, + 7.79341826273594e-06, + 8.13485894468613e-06, + 8.616183549747802e-06, + 9.182253052131273e-06, + 9.489231160841882e-06, + 9.698311259853654e-06, + 9.89817544905236e-06, + 1.0000766451412346e-05, + 9.90187436400447e-06, + 9.645551472203806e-06, + 9.554165444569662e-06, + 9.488081559538841e-06, + 9.320347089669667e-06, + 9.246369700122159e-06, + 9.398352631251328e-06, + 9.631145985622425e-06, + 9.552171832183376e-06, + 9.656198926677462e-06, + 9.776466868061107e-06, + 9.93150933936704e-06, + 1.0103673048433848e-05, + 1.034876549965702e-05, + 1.0678588296286762e-05, + 1.0908593139902223e-05, + 1.0995469892804977e-05, + 1.1069828360632528e-05, + 1.1165729119966272e-05, + 1.1172599442943465e-05, + 1.1174651262990665e-05, + 1.1245150744798593e-05, + 1.1324204933771398e-05, + 1.138403058575932e-05, + 1.1469946912257e-05, + 1.1423263458709698e-05, + 1.1262547559454106e-05 + ] + ], + "episode_mean_losses": [ + 7.199223884886881e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8727954486384988e-06, + "observation_loss": 2.8727954486384988e-06, + "chamfer": 2.4369410311919637e-06, + "track": 4.358545311333728e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.147061918047257e-05, + "observation_loss": 3.1577837944496423e-06, + "chamfer": 2.670702542673098e-06, + "track": 4.870813086199632e-07, + "acceleration": 3.8312835386022925e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.324849810975138e-05, + "observation_loss": 3.2761302009021165e-06, + "chamfer": 2.773786491161445e-06, + "track": 5.023436528972525e-07, + "acceleration": 1.9972367226728238e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0157300494029187e-05, + "observation_loss": 3.709024895215407e-06, + "chamfer": 3.127963509541587e-06, + "track": 5.8106138567382e-07, + "acceleration": 6.44827559881378e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.99637769482797e-06, + "observation_loss": 4.228563739161473e-06, + "chamfer": 3.546785592334345e-06, + "track": 6.817782605139655e-07, + "acceleration": 1.767813728292822e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.581415734923212e-06, + "observation_loss": 4.44192528448184e-06, + "chamfer": 3.7169170354900416e-06, + "track": 7.250083626786363e-07, + "acceleration": 1.139490336754534e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.869977146881865e-06, + "observation_loss": 4.199963768769521e-06, + "chamfer": 3.5198272598790936e-06, + "track": 6.801365088904276e-07, + "acceleration": 6.700133781123441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.597874522005441e-06, + "observation_loss": 4.058965714648366e-06, + "chamfer": 3.4072234029736137e-06, + "track": 6.517421411444957e-07, + "acceleration": 5.389088073570747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.465350684768055e-06, + "observation_loss": 4.001060005975887e-06, + "chamfer": 3.3632979921094375e-06, + "track": 6.377621275532874e-07, + "acceleration": 4.642907924790052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.411744612298207e-06, + "observation_loss": 4.107472705072723e-06, + "chamfer": 3.450599479037919e-06, + "track": 6.568733965650608e-07, + "acceleration": 3.0427193564719346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.619516857928829e-06, + "observation_loss": 4.488770628086058e-06, + "chamfer": 3.760753315873444e-06, + "track": 7.280174827428709e-07, + "acceleration": 1.3074614457764255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.0396897677273955e-06, + "observation_loss": 4.950938091496937e-06, + "chamfer": 4.131607511226321e-06, + "track": 8.193306939574541e-07, + "acceleration": 8.875172596845005e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.349644197849557e-06, + "observation_loss": 5.260584202915197e-06, + "chamfer": 4.386083674035035e-06, + "track": 8.745004720367433e-07, + "acceleration": 8.90598386149577e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.573834187089233e-06, + "observation_loss": 5.469775715027936e-06, + "chamfer": 4.564037681120681e-06, + "track": 9.057379202204174e-07, + "acceleration": 1.0405848627215164e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.525598680833355e-06, + "observation_loss": 5.4665565585310105e-06, + "chamfer": 4.565172275761142e-06, + "track": 9.013842827698682e-07, + "acceleration": 5.9041987299224274e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.477653303387342e-06, + "observation_loss": 5.356610017770436e-06, + "chamfer": 4.475451987673296e-06, + "track": 8.811582006273966e-07, + "acceleration": 1.2104317193006864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.203825367061654e-06, + "observation_loss": 4.998588792659575e-06, + "chamfer": 4.182017619314138e-06, + "track": 8.165711733454373e-07, + "acceleration": 2.0523644650438655e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.913172233500518e-06, + "observation_loss": 4.609163170243846e-06, + "chamfer": 3.860365723085124e-06, + "track": 7.487973334718845e-07, + "acceleration": 3.040090348349622e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.595639438775834e-06, + "observation_loss": 4.426170107763028e-06, + "chamfer": 3.706782081280835e-06, + "track": 7.193880833256117e-07, + "acceleration": 1.6946934522366064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.609637926478172e-06, + "observation_loss": 4.407956112117972e-06, + "chamfer": 3.687720436573727e-06, + "track": 7.202357892310829e-07, + "acceleration": 2.016820133121655e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.648240519600222e-06, + "observation_loss": 4.365618224255741e-06, + "chamfer": 3.6511733014776837e-06, + "track": 7.144450933083135e-07, + "acceleration": 2.8262212481422466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.536243068287149e-06, + "observation_loss": 4.2621932152542286e-06, + "chamfer": 3.5664807001012377e-06, + "track": 6.957127425266663e-07, + "acceleration": 2.740498530329205e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.572794750856701e-06, + "observation_loss": 4.203300250082975e-06, + "chamfer": 3.523402938299114e-06, + "track": 6.798971980970236e-07, + "acceleration": 3.694945576171449e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.716145213023992e-06, + "observation_loss": 4.198675014777109e-06, + "chamfer": 3.5158386708644684e-06, + "track": 6.82836571286316e-07, + "acceleration": 5.174700845600455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.667665962188039e-06, + "observation_loss": 4.212753992760554e-06, + "chamfer": 3.5112525438307784e-06, + "track": 7.015013920863566e-07, + "acceleration": 4.549120546926133e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.7022817852848675e-06, + "observation_loss": 4.385871307022171e-06, + "chamfer": 3.635731900430983e-06, + "track": 7.501393497477693e-07, + "acceleration": 3.1641050668440585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.111671271151863e-06, + "observation_loss": 4.784309567185119e-06, + "chamfer": 3.936864686693298e-06, + "track": 8.474450510220777e-07, + "acceleration": 3.2736161870161595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.280951882014051e-06, + "observation_loss": 5.056037934991764e-06, + "chamfer": 4.145083039475139e-06, + "track": 9.109549523600435e-07, + "acceleration": 2.2491411755254376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.385114945966052e-06, + "observation_loss": 5.053916083852528e-06, + "chamfer": 4.148863354203058e-06, + "track": 9.050529001797258e-07, + "acceleration": 3.3119869158326765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.203858563618269e-06, + "observation_loss": 5.0099424697691575e-06, + "chamfer": 4.1244625208491925e-06, + "track": 8.854800626068027e-07, + "acceleration": 1.9391619332509435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.367159701563651e-06, + "observation_loss": 5.110290203447221e-06, + "chamfer": 4.212330168229528e-06, + "track": 8.979599215308554e-07, + "acceleration": 2.568696118032676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.734515070798807e-06, + "observation_loss": 5.298094492900418e-06, + "chamfer": 4.362817890068982e-06, + "track": 9.352766596748552e-07, + "acceleration": 4.364207200069359e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.273834515013732e-06, + "observation_loss": 5.536440312425839e-06, + "chamfer": 4.55205918115098e-06, + "track": 9.843810175880208e-07, + "acceleration": 7.37394316274731e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.5505919337738305e-06, + "observation_loss": 5.76713273403584e-06, + "chamfer": 4.723435267806053e-06, + "track": 1.043697466229787e-06, + "acceleration": 7.834591428945714e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.591285455215257e-06, + "observation_loss": 5.84174722462194e-06, + "chamfer": 4.778632501256652e-06, + "track": 1.0631149507389637e-06, + "acceleration": 7.495381737498974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.788394330214942e-06, + "observation_loss": 5.967935067019425e-06, + "chamfer": 4.857169642491499e-06, + "track": 1.1107654245279264e-06, + "acceleration": 8.204592063520977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.569917331944453e-06, + "observation_loss": 6.2175431594369e-06, + "chamfer": 5.032005901739467e-06, + "track": 1.1855374850711087e-06, + "acceleration": 3.5237400197729585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.801338713557925e-06, + "observation_loss": 6.319934982457198e-06, + "chamfer": 5.117597993375966e-06, + "track": 1.2023368753943942e-06, + "acceleration": 4.814038447875646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.203691100381548e-06, + "observation_loss": 6.01110059506027e-06, + "chamfer": 4.895105121249799e-06, + "track": 1.1159953601236339e-06, + "acceleration": 1.9259066164067917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.754115591116715e-06, + "observation_loss": 5.606944796454627e-06, + "chamfer": 4.58165322925197e-06, + "track": 1.025291794576333e-06, + "acceleration": 1.4717090834892588e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.874426733498694e-06, + "observation_loss": 5.580730430665426e-06, + "chamfer": 4.559027274808614e-06, + "track": 1.0217030421699747e-06, + "acceleration": 2.9369650178523443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.122852937551215e-06, + "observation_loss": 5.856600637343945e-06, + "chamfer": 4.7594776333426125e-06, + "track": 1.0971228903144947e-06, + "acceleration": 2.6625224336385145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.179589036037214e-06, + "observation_loss": 6.041873348294757e-06, + "chamfer": 4.884760528511833e-06, + "track": 1.157112819782924e-06, + "acceleration": 1.3771553142305493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.265837328101043e-06, + "observation_loss": 6.227952326298691e-06, + "chamfer": 5.020682692702394e-06, + "track": 1.2072698609699728e-06, + "acceleration": 3.788493074807775e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.395106993295485e-06, + "observation_loss": 6.3097681959334295e-06, + "chamfer": 5.078664344182471e-06, + "track": 1.2311038517509587e-06, + "acceleration": 8.533874051863677e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.513746029668255e-06, + "observation_loss": 6.361313353409059e-06, + "chamfer": 5.117229193274397e-06, + "track": 1.2440842738214997e-06, + "acceleration": 1.52432747313469e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.697227490803925e-06, + "observation_loss": 6.500272775156191e-06, + "chamfer": 5.22655363965896e-06, + "track": 1.2737192491840688e-06, + "acceleration": 1.969548151237177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.131929578463314e-06, + "observation_loss": 6.967205990804359e-06, + "chamfer": 5.5756895562808495e-06, + "track": 1.3915165482103475e-06, + "acceleration": 1.647236871349378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.7393278843374e-06, + "observation_loss": 7.593172995257191e-06, + "chamfer": 6.015800408931682e-06, + "track": 1.577372358951834e-06, + "acceleration": 1.4615518750815681e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.276612788904458e-06, + "observation_loss": 7.989286132215057e-06, + "chamfer": 6.3004677031130996e-06, + "track": 1.6888183154151193e-06, + "acceleration": 2.8732651458085456e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.114836418826599e-06, + "observation_loss": 7.839455065550283e-06, + "chamfer": 6.202070380822988e-06, + "track": 1.6373842299799435e-06, + "acceleration": 2.7538106905922177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.84209078119602e-06, + "observation_loss": 7.583970273117302e-06, + "chamfer": 6.028482403053204e-06, + "track": 1.5554878700640984e-06, + "acceleration": 2.5812013859649596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.448414635291556e-06, + "observation_loss": 7.3609480750747025e-06, + "chamfer": 5.862587386218365e-06, + "track": 1.4983604614826618e-06, + "acceleration": 8.746672364168262e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2218676905322354e-06, + "observation_loss": 7.1690851655148435e-06, + "chamfer": 5.7186593949154485e-06, + "track": 1.4504256569125573e-06, + "acceleration": 5.278262094066122e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.2102561716747005e-06, + "observation_loss": 7.147654287109617e-06, + "chamfer": 5.698713266610866e-06, + "track": 1.4489411341855885e-06, + "acceleration": 6.260186324880124e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2647922024771105e-06, + "observation_loss": 7.184144124039449e-06, + "chamfer": 5.716701707569882e-06, + "track": 1.4674423027827288e-06, + "acceleration": 8.064826317877305e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.290213488886366e-06, + "observation_loss": 7.246027053042781e-06, + "chamfer": 5.7597508202889e-06, + "track": 1.4862762327538803e-06, + "acceleration": 4.418658861027325e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.516036930610426e-06, + "observation_loss": 7.307789928745478e-06, + "chamfer": 5.7912238844437525e-06, + "track": 1.5165662716754014e-06, + "acceleration": 2.0824685975640023e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.865661245887168e-06, + "observation_loss": 7.37284835850005e-06, + "chamfer": 5.8418067965249065e-06, + "track": 1.5310416756619816e-06, + "acceleration": 4.92813057917374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.499058822053485e-06, + "observation_loss": 7.499278581235558e-06, + "chamfer": 5.922759555687662e-06, + "track": 1.5765187981742201e-06, + "acceleration": 9.9978058187844e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.078691618924495e-06, + "observation_loss": 7.645059667993337e-06, + "chamfer": 6.0380352806532755e-06, + "track": 1.607024501026899e-06, + "acceleration": 1.433632291991671e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.636578058940358e-06, + "observation_loss": 7.79341826273594e-06, + "chamfer": 6.152171863504918e-06, + "track": 1.64124651291786e-06, + "acceleration": 8.431599098912557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.490903383062687e-06, + "observation_loss": 8.13485894468613e-06, + "chamfer": 6.400894108082866e-06, + "track": 1.7339644955427502e-06, + "acceleration": 3.560446373285231e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.891322977433447e-06, + "observation_loss": 8.616183549747802e-06, + "chamfer": 6.731497251166729e-06, + "track": 1.884686753328424e-06, + "acceleration": 2.751390866251313e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.297436918132007e-06, + "observation_loss": 9.182253052131273e-06, + "chamfer": 7.117083441698924e-06, + "track": 2.065169610432349e-06, + "acceleration": 1.1518341125338338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.575955118634738e-06, + "observation_loss": 9.489231160841882e-06, + "chamfer": 7.324867056013318e-06, + "track": 2.1643636500812136e-06, + "acceleration": 8.672361673234263e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.969578059099149e-06, + "observation_loss": 9.698311259853654e-06, + "chamfer": 7.467824161722092e-06, + "track": 2.230487325505237e-06, + "acceleration": 2.7126660029352934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.006729780783644e-05, + "observation_loss": 9.89817544905236e-06, + "chamfer": 7.579019438708201e-06, + "track": 2.3191562377178343e-06, + "acceleration": 1.6912271405544743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.011573476716876e-05, + "observation_loss": 1.0000766451412346e-05, + "chamfer": 7.636601367266849e-06, + "track": 2.364165311519173e-06, + "acceleration": 1.1496867813320932e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0222457603958901e-05, + "observation_loss": 9.90187436400447e-06, + "chamfer": 7.571784408355597e-06, + "track": 2.3300897282751976e-06, + "acceleration": 3.205828420504986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.044801410898799e-05, + "observation_loss": 9.645551472203806e-06, + "chamfer": 7.415529580612201e-06, + "track": 2.2300221189652802e-06, + "acceleration": 8.024626936276036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0039019798568916e-05, + "observation_loss": 9.554165444569662e-06, + "chamfer": 7.34684999770252e-06, + "track": 2.2073159016144928e-06, + "acceleration": 4.848547519031854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.705524462333415e-06, + "observation_loss": 9.488081559538841e-06, + "chamfer": 7.301051937247394e-06, + "track": 2.1870300770387985e-06, + "acceleration": 2.1744273226431687e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.592704373062588e-06, + "observation_loss": 9.320347089669667e-06, + "chamfer": 7.179613930929918e-06, + "track": 2.1407331587397493e-06, + "acceleration": 2.723569139106985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.783852874534205e-06, + "observation_loss": 9.246369700122159e-06, + "chamfer": 7.1182939791469835e-06, + "track": 2.128075948348851e-06, + "acceleration": 5.374827765081136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2765060091624036e-05, + "observation_loss": 9.398352631251328e-06, + "chamfer": 7.204014764283784e-06, + "track": 2.194338321714895e-06, + "acceleration": 3.366707687746384e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2516071365098469e-05, + "observation_loss": 9.631145985622425e-06, + "chamfer": 7.356558853643946e-06, + "track": 2.2745873593521537e-06, + "acceleration": 2.8849258342233952e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0374472367402632e-05, + "observation_loss": 9.552171832183376e-06, + "chamfer": 7.303597158170305e-06, + "track": 2.2485744466393953e-06, + "acceleration": 8.223006489060936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0470110282767564e-05, + "observation_loss": 9.656198926677462e-06, + "chamfer": 7.3660226007632446e-06, + "track": 2.2901760985405417e-06, + "acceleration": 8.13911071873008e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0104034117830452e-05, + "observation_loss": 9.776466868061107e-06, + "chamfer": 7.43934697311488e-06, + "track": 2.3371201223199023e-06, + "acceleration": 3.275671360825072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0054138328996487e-05, + "observation_loss": 9.93150933936704e-06, + "chamfer": 7.518337952205911e-06, + "track": 2.4131713871611282e-06, + "acceleration": 1.2262880488833616e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0247930731566157e-05, + "observation_loss": 1.0103673048433848e-05, + "chamfer": 7.604593065480003e-06, + "track": 2.4990795282064937e-06, + "acceleration": 1.4425798156025849e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0424208085169084e-05, + "observation_loss": 1.034876549965702e-05, + "chamfer": 7.763728717691265e-06, + "track": 2.585036781965755e-06, + "acceleration": 7.544292657257756e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0766556442831643e-05, + "observation_loss": 1.0678588296286762e-05, + "chamfer": 7.989465302671306e-06, + "track": 2.689123448362807e-06, + "acceleration": 8.796813233402645e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1011567949026357e-05, + "observation_loss": 1.0908593139902223e-05, + "chamfer": 8.144387720676605e-06, + "track": 2.7642056465992937e-06, + "acceleration": 1.0297488728383541e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1101076779596042e-05, + "observation_loss": 1.0995469892804977e-05, + "chamfer": 8.186062586901244e-06, + "track": 2.8094070785300573e-06, + "acceleration": 1.0560712127016814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1207641364308074e-05, + "observation_loss": 1.1069828360632528e-05, + "chamfer": 8.233580956584774e-06, + "track": 2.8362474040477537e-06, + "acceleration": 1.3781293262127292e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1316222298773937e-05, + "observation_loss": 1.1165729119966272e-05, + "chamfer": 8.285629519377835e-06, + "track": 2.880099600588437e-06, + "acceleration": 1.504932214402288e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1256415746174753e-05, + "observation_loss": 1.1172599442943465e-05, + "chamfer": 8.277868801087607e-06, + "track": 2.8947306418558583e-06, + "acceleration": 8.38163956018434e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1411177183617838e-05, + "observation_loss": 1.1174651262990665e-05, + "chamfer": 8.279167559521738e-06, + "track": 2.8954837034689263e-06, + "acceleration": 2.365258922054636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1366963008185849e-05, + "observation_loss": 1.1245150744798593e-05, + "chamfer": 8.31514444143977e-06, + "track": 2.9300065307324985e-06, + "acceleration": 1.2181223496554594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1417466339480598e-05, + "observation_loss": 1.1324204933771398e-05, + "chamfer": 8.350368261744734e-06, + "track": 2.973836672026664e-06, + "acceleration": 9.326137018206282e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1476534382381942e-05, + "observation_loss": 1.138403058575932e-05, + "chamfer": 8.385889486817177e-06, + "track": 2.9981413263158174e-06, + "acceleration": 9.250404531258027e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1553735021152534e-05, + "observation_loss": 1.1469946912257e-05, + "chamfer": 8.433072252955753e-06, + "track": 3.036874431927572e-06, + "acceleration": 8.378803073583185e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1530804840731435e-05, + "observation_loss": 1.1423263458709698e-05, + "chamfer": 8.40702614368638e-06, + "track": 3.0162370876496425e-06, + "acceleration": 1.0754168044968537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1354673006280791e-05, + "observation_loss": 1.1262547559454106e-05, + "chamfer": 8.306037670990918e-06, + "track": 2.9565096610895125e-06, + "acceleration": 9.212555340809558e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.241164522360123e-06, + "chamfer_mean": 5.654355462070271e-06, + "track_mean": 1.5448684565673905e-06, + "acceleration_mean": 1.0419406425802673e-06, + "observation_score": 7.199223884886881e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4296872859995347 + }, + "score_arrays_file": "pass_scores/pass_end_0308.npz", + "score_arrays_sha256": "dc636d26dd2fb3627bdaabaff7b7a1f370a9d690e87e5a9b591bd03eff8caf77" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0309.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0309.json new file mode 100644 index 0000000000000000000000000000000000000000..66d6a42ba34236a65d55e9778d647ec9768059a4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0309.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29664, + "completed_passes": 309, + "snapshot": "pass_end_0309", + "candidate": true, + "snapshot_arrays_sha256": "c29a7d6fab550fea0b2ad4a51b36252c3e980b2c669b96c90dfd412ea2703527", + "score": 7.1957287938554755e-06, + "score_result": { + "score": 7.1957287938554755e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.87277293864463e-06, + 3.15766965286457e-06, + 3.2745697353675496e-06, + 3.7076799799251603e-06, + 4.226779765303945e-06, + 4.440219981916016e-06, + 4.197974703856744e-06, + 4.0564441405877005e-06, + 3.998428837803658e-06, + 4.105038897250779e-06, + 4.486164016270777e-06, + 4.948201421939302e-06, + 5.257532393443398e-06, + 5.466686161526013e-06, + 5.463477009470807e-06, + 5.3532544370682444e-06, + 4.995049039280275e-06, + 4.605716640071478e-06, + 4.422884103405522e-06, + 4.405040726851439e-06, + 4.3619857024168596e-06, + 4.256933152646525e-06, + 4.197060661681462e-06, + 4.193326731183333e-06, + 4.209557118883822e-06, + 4.385047304822365e-06, + 4.784008069691481e-06, + 5.055192104919115e-06, + 5.052364940638654e-06, + 5.007698746339884e-06, + 5.110362963023363e-06, + 5.301471446728101e-06, + 5.539896847039927e-06, + 5.770310963271186e-06, + 5.843782673764508e-06, + 5.97009193370468e-06, + 6.220715931704035e-06, + 6.325335561996326e-06, + 6.017274699843256e-06, + 5.608555056824116e-06, + 5.577180672844406e-06, + 5.852388312632684e-06, + 6.038353603798896e-06, + 6.223925083759241e-06, + 6.30555177849601e-06, + 6.3572833823855035e-06, + 6.495818979601609e-06, + 6.961975032027112e-06, + 7.586697847727919e-06, + 7.982001079653855e-06, + 7.83202085585799e-06, + 7.577092674182495e-06, + 7.354974513873458e-06, + 7.164161161199445e-06, + 7.14332099960302e-06, + 7.180537977546919e-06, + 7.2426068982167635e-06, + 7.3044370765273925e-06, + 7.369318154815119e-06, + 7.49561695556622e-06, + 7.641549018444493e-06, + 7.789747542119585e-06, + 8.131096365104895e-06, + 8.612561941845343e-06, + 9.178903383144643e-06, + 9.486024282523431e-06, + 9.695186236058362e-06, + 9.894934009935241e-06, + 9.997753295465373e-06, + 9.899499673338141e-06, + 9.643390512792394e-06, + 9.552062692819163e-06, + 9.485807822784409e-06, + 9.317556759924628e-06, + 9.24465712159872e-06, + 9.395066626893822e-06, + 9.628300176700577e-06, + 9.552151823299937e-06, + 9.65444905887125e-06, + 9.773917554412037e-06, + 9.927250175678637e-06, + 1.0097484846482985e-05, + 1.0340276276110671e-05, + 1.0669417861208785e-05, + 1.0898485015786719e-05, + 1.0985260814777575e-05, + 1.1059752068831585e-05, + 1.1156273103551939e-05, + 1.1163128874613903e-05, + 1.1164818715769798e-05, + 1.1235944839427248e-05, + 1.1314871699141804e-05, + 1.1375306712579913e-05, + 1.1460895620984957e-05, + 1.1414289474487305e-05, + 1.1254071978328284e-05 + ] + ], + "episode_mean_losses": [ + 7.1957287938554755e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.87277293864463e-06, + "observation_loss": 2.87277293864463e-06, + "chamfer": 2.436913064229884e-06, + "track": 4.3585990283645515e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1467534174444154e-05, + "observation_loss": 3.15766965286457e-06, + "chamfer": 2.6706002245191485e-06, + "track": 4.870694851888402e-07, + "acceleration": 3.830986315733753e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3237367713591084e-05, + "observation_loss": 3.2745697353675496e-06, + "chamfer": 2.7724909159587696e-06, + "track": 5.0207881940878e-07, + "acceleration": 1.9962797523476183e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0152517461392563e-05, + "observation_loss": 3.7076799799251603e-06, + "chamfer": 3.126843694190029e-06, + "track": 5.808362857351312e-07, + "acceleration": 6.444837254093727e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.981549747957615e-06, + "observation_loss": 4.226779765303945e-06, + "chamfer": 3.5453217606118415e-06, + "track": 6.814579478486849e-07, + "acceleration": 1.7547700963405077e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.575891918851994e-06, + "observation_loss": 4.440219981916016e-06, + "chamfer": 3.715509592439048e-06, + "track": 7.247102757901303e-07, + "acceleration": 1.1356718232491403e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.866345079790335e-06, + "observation_loss": 4.197974703856744e-06, + "chamfer": 3.5181762996217003e-06, + "track": 6.797985747653001e-07, + "acceleration": 6.683705464638479e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.597028237185441e-06, + "observation_loss": 4.0564441405877005e-06, + "chamfer": 3.4051247439492727e-06, + "track": 6.513195103252656e-07, + "acceleration": 5.405839260674838e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4634166442847345e-06, + "observation_loss": 3.998428837803658e-06, + "chamfer": 3.3611138405831298e-06, + "track": 6.373151677507849e-07, + "acceleration": 4.64987778059367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.409766916069202e-06, + "observation_loss": 4.105038897250779e-06, + "chamfer": 3.448581310294685e-06, + "track": 6.56457586956094e-07, + "acceleration": 3.04728075661842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.61748049929156e-06, + "observation_loss": 4.486164016270777e-06, + "chamfer": 3.7586096368613653e-06, + "track": 7.275544930962496e-07, + "acceleration": 1.313165114424919e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.037057235313114e-06, + "observation_loss": 4.948201421939302e-06, + "chamfer": 4.129381977691082e-06, + "track": 8.188196716218954e-07, + "acceleration": 8.885572810868325e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.346601938072126e-06, + "observation_loss": 5.257532393443398e-06, + "chamfer": 4.383620762382634e-06, + "track": 8.739116310607642e-07, + "acceleration": 8.906943094189046e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.570565463131061e-06, + "observation_loss": 5.466686161526013e-06, + "chamfer": 4.561555670079542e-06, + "track": 9.051306619767274e-07, + "acceleration": 1.0387937976474859e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.522476840269519e-06, + "observation_loss": 5.463477009470807e-06, + "chamfer": 4.562689355225302e-06, + "track": 9.007875405586674e-07, + "acceleration": 5.899967447930976e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.4742786232964136e-06, + "observation_loss": 5.3532544370682444e-06, + "chamfer": 4.472735781746451e-06, + "track": 8.80518484791537e-07, + "acceleration": 1.2102408675218612e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.200329269428039e-06, + "observation_loss": 4.995049039280275e-06, + "chamfer": 4.1791313378780615e-06, + "track": 8.159175877153757e-07, + "acceleration": 2.0528038646716595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.91009041070356e-06, + "observation_loss": 4.605716640071478e-06, + "chamfer": 3.8575576581934e-06, + "track": 7.48158811347821e-07, + "acceleration": 3.0437362852353544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.591552624333417e-06, + "observation_loss": 4.422884103405522e-06, + "chamfer": 3.7040636016172357e-06, + "track": 7.188205586317054e-07, + "acceleration": 1.6866860619302315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.605999038176378e-06, + "observation_loss": 4.405040726851439e-06, + "chamfer": 3.6853132314718096e-06, + "track": 7.197276090664673e-07, + "acceleration": 2.0095832553579385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.644616183213657e-06, + "observation_loss": 4.3619857024168596e-06, + "chamfer": 3.6481967526924564e-06, + "track": 7.137891770980787e-07, + "acceleration": 2.826304807967972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.530393198365346e-06, + "observation_loss": 4.256933152646525e-06, + "chamfer": 3.5621592360257637e-06, + "track": 6.9477397346418e-07, + "acceleration": 2.734599604536925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.577320396492723e-06, + "observation_loss": 4.197060661681462e-06, + "chamfer": 3.5182461033400614e-06, + "track": 6.788147857150761e-07, + "acceleration": 3.8025959270271414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.7420026021427475e-06, + "observation_loss": 4.193326731183333e-06, + "chamfer": 3.5114178444928257e-06, + "track": 6.819090003773454e-07, + "acceleration": 5.486758141159953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.684687155531719e-06, + "observation_loss": 4.209557118883822e-06, + "chamfer": 3.5085618037555832e-06, + "track": 7.009954856584955e-07, + "acceleration": 4.7513017875644437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.7068360800039954e-06, + "observation_loss": 4.385047304822365e-06, + "chamfer": 3.635075927377329e-06, + "track": 7.49971206914779e-07, + "acceleration": 3.2178871833821177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.105962827656185e-06, + "observation_loss": 4.784008069691481e-06, + "chamfer": 3.936639132007258e-06, + "track": 8.473689376842231e-07, + "acceleration": 3.219547579647042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.27432848684839e-06, + "observation_loss": 5.055192104919115e-06, + "chamfer": 4.144321337662404e-06, + "track": 9.108709377869673e-07, + "acceleration": 2.1913655245953123e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.377693923946936e-06, + "observation_loss": 5.052364940638654e-06, + "chamfer": 4.147530944464961e-06, + "track": 9.048341098605306e-07, + "acceleration": 3.253290401517006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.200877694733208e-06, + "observation_loss": 5.007698746339884e-06, + "chamfer": 4.122622613067506e-06, + "track": 8.850761332723778e-07, + "acceleration": 1.9317900523674325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3622702580469195e-06, + "observation_loss": 5.110362963023363e-06, + "chamfer": 4.212385192658985e-06, + "track": 8.979777135209588e-07, + "acceleration": 2.519074655538134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.719773980672471e-06, + "observation_loss": 5.301471446728101e-06, + "chamfer": 4.365520908322651e-06, + "track": 9.359504247186123e-07, + "acceleration": 4.183023065706948e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.253634182940004e-06, + "observation_loss": 5.539896847039927e-06, + "chamfer": 4.55490089734667e-06, + "track": 9.84995949693257e-07, + "acceleration": 7.13737165369821e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.5707508838386275e-06, + "observation_loss": 5.770310963271186e-06, + "chamfer": 4.726331098936498e-06, + "track": 1.0439797506478499e-06, + "acceleration": 8.004398637240229e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.589475106011378e-06, + "observation_loss": 5.843782673764508e-06, + "chamfer": 4.780647941515781e-06, + "track": 1.0631345048750518e-06, + "acceleration": 7.456922617166128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.788779955968494e-06, + "observation_loss": 5.97009193370468e-06, + "chamfer": 4.859228738496313e-06, + "track": 1.110863195208367e-06, + "acceleration": 8.186878517335572e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.608354851778131e-06, + "observation_loss": 6.220715931704035e-06, + "chamfer": 5.034462446928956e-06, + "track": 1.1862535984619171e-06, + "acceleration": 3.8763911902606196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.802211373724276e-06, + "observation_loss": 6.325335561996326e-06, + "chamfer": 5.121603862789925e-06, + "track": 1.2037314718327252e-06, + "acceleration": 4.768756980411126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.2247072492027655e-06, + "observation_loss": 6.017274699843256e-06, + "chamfer": 4.8998358579410706e-06, + "track": 1.1174388419021852e-06, + "acceleration": 2.0743247830523615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.760542535426794e-06, + "observation_loss": 5.608555056824116e-06, + "chamfer": 4.5827873691450804e-06, + "track": 1.0257675739921979e-06, + "acceleration": 1.5198746439182287e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.875894203200005e-06, + "observation_loss": 5.577180672844406e-06, + "chamfer": 4.556206476991065e-06, + "track": 1.020973968479666e-06, + "acceleration": 2.9871367246414593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.120753823779523e-06, + "observation_loss": 5.852388312632684e-06, + "chamfer": 4.756131147587439e-06, + "track": 1.096257051358407e-06, + "acceleration": 2.6836565325538686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.175305315991864e-06, + "observation_loss": 6.038353603798896e-06, + "chamfer": 4.881979748461163e-06, + "track": 1.1563738553377334e-06, + "acceleration": 1.3695172640382225e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.262497208808782e-06, + "observation_loss": 6.223925083759241e-06, + "chamfer": 5.017531293560751e-06, + "track": 1.2063940175721655e-06, + "acceleration": 3.8572117944113415e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.391069746314315e-06, + "observation_loss": 6.30555177849601e-06, + "chamfer": 5.075379704067018e-06, + "track": 1.23017218811583e-06, + "acceleration": 8.551790386945868e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.50936271995306e-06, + "observation_loss": 6.3572833823855035e-06, + "chamfer": 5.11406551595428e-06, + "track": 1.2432180938048987e-06, + "acceleration": 1.5207930914584722e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.693258001178037e-06, + "observation_loss": 6.495818979601609e-06, + "chamfer": 5.223098014539573e-06, + "track": 1.2727208513751975e-06, + "acceleration": 1.974389505221552e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1271133492700756e-06, + "observation_loss": 6.961975032027112e-06, + "chamfer": 5.57175508220098e-06, + "track": 1.3902200635129702e-06, + "acceleration": 1.651381893452708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.733206075499766e-06, + "observation_loss": 7.586697847727919e-06, + "chamfer": 6.011046025378164e-06, + "track": 1.575651822349755e-06, + "acceleration": 1.4650845514552202e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.269925274362322e-06, + "observation_loss": 7.982001079653855e-06, + "chamfer": 6.295315870374907e-06, + "track": 1.686685436652624e-06, + "acceleration": 2.8792393891308166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.109187547233887e-06, + "observation_loss": 7.83202085585799e-06, + "chamfer": 6.196717549755704e-06, + "track": 1.6353030787286116e-06, + "acceleration": 2.7716708927982836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.836133590899408e-06, + "observation_loss": 7.577092674182495e-06, + "chamfer": 6.023402875143802e-06, + "track": 1.5536897990386933e-06, + "acceleration": 2.5904088829520333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.44285580367432e-06, + "observation_loss": 7.354974513873458e-06, + "chamfer": 5.858041276951553e-06, + "track": 1.4969331232350669e-06, + "acceleration": 8.7881431909409e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.216468929982511e-06, + "observation_loss": 7.164161161199445e-06, + "chamfer": 5.714900453313021e-06, + "track": 1.449260707886424e-06, + "acceleration": 5.230756272567305e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.206123427749844e-06, + "observation_loss": 7.14332099960302e-06, + "chamfer": 5.695443178410642e-06, + "track": 1.4478778211923782e-06, + "acceleration": 6.280229314370445e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.261321570695145e-06, + "observation_loss": 7.180537977546919e-06, + "chamfer": 5.713935934181791e-06, + "track": 1.4666020433651283e-06, + "acceleration": 8.078380631104665e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.286566869879607e-06, + "observation_loss": 7.2426068982167635e-06, + "chamfer": 5.75708827454946e-06, + "track": 1.4855185099804658e-06, + "acceleration": 4.39601564039549e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.512758656957885e-06, + "observation_loss": 7.3044370765273925e-06, + "chamfer": 5.78863728151191e-06, + "track": 1.51579990870232e-06, + "acceleration": 2.083217935933135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.863114660722204e-06, + "observation_loss": 7.369318154815119e-06, + "chamfer": 5.839062396262307e-06, + "track": 1.5302556448659743e-06, + "acceleration": 4.937966764373414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.497910130245145e-06, + "observation_loss": 7.49561695556622e-06, + "chamfer": 5.919947852817131e-06, + "track": 1.5756692164359265e-06, + "acceleration": 1.0022934020526009e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.077984941541217e-06, + "observation_loss": 7.641549018444493e-06, + "chamfer": 6.035365458956221e-06, + "track": 1.6061831047409214e-06, + "acceleration": 1.4364355820362107e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.63553214003332e-06, + "observation_loss": 7.789747542119585e-06, + "chamfer": 6.149418823042652e-06, + "track": 1.6403291738242842e-06, + "acceleration": 8.457842568532215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.488890671287663e-06, + "observation_loss": 8.131096365104895e-06, + "chamfer": 6.398076038749423e-06, + "track": 1.7330203263554722e-06, + "acceleration": 3.577944767130248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.889231139619369e-06, + "observation_loss": 8.612561941845343e-06, + "chamfer": 6.728851985826623e-06, + "track": 1.8837097286450444e-06, + "acceleration": 2.7666899882206053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.294762094214093e-06, + "observation_loss": 9.178903383144643e-06, + "chamfer": 7.114720119716367e-06, + "track": 2.064183490801952e-06, + "acceleration": 1.1585855475004792e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.5731656983844e-06, + "observation_loss": 9.486024282523431e-06, + "chamfer": 7.322716101043625e-06, + "track": 2.163308181479806e-06, + "acceleration": 8.71411600655847e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.967353435058612e-06, + "observation_loss": 9.695186236058362e-06, + "chamfer": 7.4657791628851555e-06, + "track": 2.2294073005468817e-06, + "acceleration": 2.721669432048657e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0064949492516462e-05, + "observation_loss": 9.894934009935241e-06, + "chamfer": 7.576932148367632e-06, + "track": 2.3180020889412845e-06, + "acceleration": 1.700158946960073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0113239113707095e-05, + "observation_loss": 9.997753295465373e-06, + "chamfer": 7.634662324562669e-06, + "track": 2.363091198276379e-06, + "acceleration": 1.1548591061227853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0221522643405478e-05, + "observation_loss": 9.899499673338141e-06, + "chamfer": 7.57028283260297e-06, + "track": 2.3292170681088464e-06, + "acceleration": 3.2202325428443146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0447698514326476e-05, + "observation_loss": 9.643390512792394e-06, + "chamfer": 7.414120773319155e-06, + "track": 2.2292692847258877e-06, + "acceleration": 8.0430760363015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0038122127298266e-05, + "observation_loss": 9.552062692819163e-06, + "chamfer": 7.345510312006809e-06, + "track": 2.20655260818603e-06, + "acceleration": 4.860597755396157e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.704667718324345e-06, + "observation_loss": 9.485807822784409e-06, + "chamfer": 7.29954717826331e-06, + "track": 2.1862610992684495e-06, + "acceleration": 2.1886017975702998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.591281923349015e-06, + "observation_loss": 9.317556759924628e-06, + "chamfer": 7.177623047027737e-06, + "track": 2.1399334855232155e-06, + "acceleration": 2.737253623763536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.769119060365483e-06, + "observation_loss": 9.24465712159872e-06, + "chamfer": 7.117113000276731e-06, + "track": 2.1275436665746383e-06, + "acceleration": 5.244618250799249e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2750794667226728e-05, + "observation_loss": 9.395066626893822e-06, + "chamfer": 7.201367225206923e-06, + "track": 2.1936994016868994e-06, + "acceleration": 3.3557282677065814e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2517371033027302e-05, + "observation_loss": 9.628300176700577e-06, + "chamfer": 7.354336503340164e-06, + "track": 2.2739639007340884e-06, + "acceleration": 2.8890708563267253e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0370854397478979e-05, + "observation_loss": 9.552151823299937e-06, + "chamfer": 7.3035557761613745e-06, + "track": 2.248596274512238e-06, + "acceleration": 8.18702233118529e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0474688679096289e-05, + "observation_loss": 9.65444905887125e-06, + "chamfer": 7.364619250438409e-06, + "track": 2.2898295810591662e-06, + "acceleration": 8.202395633816195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.010357664199546e-05, + "observation_loss": 9.773917554412037e-06, + "chamfer": 7.437763997586444e-06, + "track": 2.336154011572944e-06, + "acceleration": 3.2965925811367924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0052704965346493e-05, + "observation_loss": 9.927250175678637e-06, + "chamfer": 7.516042842325987e-06, + "track": 2.4112073333526496e-06, + "acceleration": 1.2545517336093326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.02449257610715e-05, + "observation_loss": 1.0097484846482985e-05, + "chamfer": 7.6011829150957055e-06, + "track": 2.49630238613463e-06, + "acceleration": 1.4744065879312984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0417035809950903e-05, + "observation_loss": 1.0340276276110671e-05, + "chamfer": 7.758813808322884e-06, + "track": 2.5814626951614628e-06, + "acceleration": 7.675908619830807e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0757207746792119e-05, + "observation_loss": 1.0669417861208785e-05, + "chamfer": 7.984242074599024e-06, + "track": 2.685175559236086e-06, + "acceleration": 8.779032611982984e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.1004450243490282e-05, + "observation_loss": 1.0898485015786719e-05, + "chamfer": 8.13857332104817e-06, + "track": 2.759911467364873e-06, + "acceleration": 1.0596539823382045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1094281035184395e-05, + "observation_loss": 1.0985260814777575e-05, + "chamfer": 8.180283657566179e-06, + "track": 2.804976702464046e-06, + "acceleration": 1.0901988645173333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1199701475561596e-05, + "observation_loss": 1.1059752068831585e-05, + "chamfer": 8.227743819588795e-06, + "track": 2.8320084766164655e-06, + "acceleration": 1.3994919356719038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1308485227345955e-05, + "observation_loss": 1.1156273103551939e-05, + "chamfer": 8.280358997581061e-06, + "track": 2.8759143333445536e-06, + "acceleration": 1.5221201010717778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1249213457631413e-05, + "observation_loss": 1.1163128874613903e-05, + "chamfer": 8.272550076071639e-06, + "track": 2.890578798542265e-06, + "acceleration": 8.608463986092829e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1405257282603998e-05, + "observation_loss": 1.1164818715769798e-05, + "chamfer": 8.273582352558151e-06, + "track": 2.8912368179589976e-06, + "acceleration": 2.404384815690719e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1359461495885625e-05, + "observation_loss": 1.1235944839427248e-05, + "chamfer": 8.310082193929702e-06, + "track": 2.9258626454975456e-06, + "acceleration": 1.2351696909718157e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1408433238102589e-05, + "observation_loss": 1.1314871699141804e-05, + "chamfer": 8.345172318513505e-06, + "track": 2.9696996080019744e-06, + "acceleration": 9.35611836894168e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1467482181615196e-05, + "observation_loss": 1.1375306712579913e-05, + "chamfer": 8.381288353120908e-06, + "track": 2.99401813208533e-06, + "acceleration": 9.217571061981289e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1544074368430302e-05, + "observation_loss": 1.1460895620984957e-05, + "chamfer": 8.42817644297611e-06, + "track": 3.032718723261496e-06, + "acceleration": 8.31786834964987e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.152176355390111e-05, + "observation_loss": 1.1414289474487305e-05, + "chamfer": 8.40214761410607e-06, + "track": 3.0121414056338836e-06, + "acceleration": 1.0747449863401926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1346563042025082e-05, + "observation_loss": 1.1254071978328284e-05, + "chamfer": 8.301485650008544e-06, + "track": 2.9525863283197396e-06, + "acceleration": 9.249136923017431e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.238463704420459e-06, + "chamfer_mean": 5.651995676222062e-06, + "track_mean": 1.543733135100922e-06, + "acceleration_mean": 1.0427348953919353e-06, + "observation_score": 7.1957287938554755e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.430656311000348 + }, + "score_arrays_file": "pass_scores/pass_end_0309.npz", + "score_arrays_sha256": "c3995cc63e921230a6ddec8f5b20ac3c4ab87c21d6af4982d0c9db7e636801db" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0310.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0310.json new file mode 100644 index 0000000000000000000000000000000000000000..dcc83337241c9928ea7a92b97ad1aafcd73f7212 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0310.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29760, + "completed_passes": 310, + "snapshot": "pass_end_0310", + "candidate": true, + "snapshot_arrays_sha256": "c51d16816612773964d6fe9aecaa6358f137b15bf864f5f2a2237c9d44dc20d3", + "score": 7.1927677301649355e-06, + "score_result": { + "score": 7.1927677301649355e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8727163225994445e-06, + 3.157557330268901e-06, + 3.27311818182352e-06, + 3.706308689288562e-06, + 4.22523817178444e-06, + 4.4389880713424645e-06, + 4.196359441266395e-06, + 4.054042165080318e-06, + 3.996096893388312e-06, + 4.102644197701011e-06, + 4.483385964704212e-06, + 4.945095497532748e-06, + 5.2544710342772305e-06, + 5.463559773488669e-06, + 5.460117336042458e-06, + 5.349980710889213e-06, + 4.991621608496644e-06, + 4.602590706781484e-06, + 4.419961442181375e-06, + 4.402427293825895e-06, + 4.358790647529531e-06, + 4.25258031100384e-06, + 4.1914436224033125e-06, + 4.188109414826613e-06, + 4.206714947940782e-06, + 4.384125531942118e-06, + 4.783385065820767e-06, + 5.053779204899911e-06, + 5.050291292718612e-06, + 5.004685135645559e-06, + 5.109496214572573e-06, + 5.303342732076999e-06, + 5.542235612665536e-06, + 5.77215496377903e-06, + 5.844765837537125e-06, + 5.97114376432728e-06, + 6.223956006579101e-06, + 6.3308125390904024e-06, + 6.023199148330605e-06, + 5.610225798591273e-06, + 5.5734867601131555e-06, + 5.848297405464109e-06, + 6.034429134160746e-06, + 6.219429906195728e-06, + 6.301188477664255e-06, + 6.353486696752952e-06, + 6.49197727398132e-06, + 6.957842742849607e-06, + 7.581155387015315e-06, + 7.976002052600961e-06, + 7.826588444004301e-06, + 7.572223694296554e-06, + 7.3507226261426695e-06, + 7.160992936405819e-06, + 7.141185051295906e-06, + 7.178897249104921e-06, + 7.241298590088263e-06, + 7.303499387489865e-06, + 7.368507340288488e-06, + 7.49503215047298e-06, + 7.641063348273747e-06, + 7.789343726471998e-06, + 8.130576134135481e-06, + 8.611995326646138e-06, + 9.17848592507653e-06, + 9.486391718382947e-06, + 9.695799235487357e-06, + 9.895714356389362e-06, + 9.99873736873269e-06, + 9.90050921245711e-06, + 9.644365491112694e-06, + 9.55292762228055e-06, + 9.485857844993006e-06, + 9.316484465671238e-06, + 9.244618922821246e-06, + 9.392389983986504e-06, + 9.625068742025178e-06, + 9.552024494041689e-06, + 9.652296284912154e-06, + 9.770955330168363e-06, + 9.922877325152513e-06, + 1.0091072908835486e-05, + 1.0331523299100809e-05, + 1.0659740837581921e-05, + 1.0888237738981843e-05, + 1.0974660654028412e-05, + 1.1049054592149332e-05, + 1.1146281394758262e-05, + 1.1152767910971306e-05, + 1.1153875675518066e-05, + 1.122548655985156e-05, + 1.1304125109745655e-05, + 1.1364769306965172e-05, + 1.1449999874457717e-05, + 1.1403700227674562e-05, + 1.1244161214563064e-05 + ] + ], + "episode_mean_losses": [ + 7.1927677301649355e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8727163225994445e-06, + "observation_loss": 2.8727163225994445e-06, + "chamfer": 2.436857130305725e-06, + "track": 4.358591922937194e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146542778471485e-05, + "observation_loss": 3.157557330268901e-06, + "chamfer": 2.6704997253546026e-06, + "track": 4.870575480708794e-07, + "acceleration": 3.8307869544951245e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.32270140259061e-05, + "observation_loss": 3.27311818182352e-06, + "chamfer": 2.7712849259842187e-06, + "track": 5.018333126827201e-07, + "acceleration": 1.995389538933523e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0149076842935756e-05, + "observation_loss": 3.706308689288562e-06, + "chamfer": 3.125703869955032e-06, + "track": 5.806048761769489e-07, + "acceleration": 6.442768153647194e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.96775771555258e-06, + "observation_loss": 4.22523817178444e-06, + "chamfer": 3.5440521060081664e-06, + "track": 6.811859520894359e-07, + "acceleration": 1.7425195437681396e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.570777375396574e-06, + "observation_loss": 4.4389880713424645e-06, + "chamfer": 3.714480953931343e-06, + "track": 7.245070605677029e-07, + "acceleration": 1.1317891903672717e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.862232344748918e-06, + "observation_loss": 4.196359441266395e-06, + "chamfer": 3.516823881000164e-06, + "track": 6.795356739530689e-07, + "acceleration": 6.658727897956851e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.596134658640949e-06, + "observation_loss": 4.054042165080318e-06, + "chamfer": 3.4031179438898107e-06, + "track": 6.509243348773452e-07, + "acceleration": 5.420926640908874e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4615899241762236e-06, + "observation_loss": 3.996096893388312e-06, + "chamfer": 3.359176844242029e-06, + "track": 6.369200491462834e-07, + "acceleration": 4.654928602576547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.4074422476114705e-06, + "observation_loss": 4.102644197701011e-06, + "chamfer": 3.446592018008232e-06, + "track": 6.560524070664542e-07, + "acceleration": 3.0479785095849365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.615039415512001e-06, + "observation_loss": 4.483385964704212e-06, + "chamfer": 3.756324531423161e-06, + "track": 7.270612627507944e-07, + "acceleration": 1.3165355028377235e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.034035439166473e-06, + "observation_loss": 4.945095497532748e-06, + "chamfer": 4.126860403630417e-06, + "track": 8.182351507457497e-07, + "acceleration": 8.893974978718688e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3438334361999296e-06, + "observation_loss": 5.2544710342772305e-06, + "chamfer": 4.3811473915411625e-06, + "track": 8.733234153623926e-07, + "acceleration": 8.936262219094715e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.567329026234802e-06, + "observation_loss": 5.463559773488669e-06, + "chamfer": 4.559038643492386e-06, + "track": 9.045210163094453e-07, + "acceleration": 1.0376904668873976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.5193504522321746e-06, + "observation_loss": 5.460117336042458e-06, + "chamfer": 4.55997451354051e-06, + "track": 9.001428225019481e-07, + "acceleration": 5.9233080662579596e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.471261374623282e-06, + "observation_loss": 5.349980710889213e-06, + "chamfer": 4.470091425901046e-06, + "track": 8.798891144579102e-07, + "acceleration": 1.2128069215577852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.197024620429147e-06, + "observation_loss": 4.991621608496644e-06, + "chamfer": 4.176338734396268e-06, + "track": 8.152827604135382e-07, + "acceleration": 2.0540302614335815e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.9077425501309335e-06, + "observation_loss": 4.602590706781484e-06, + "chamfer": 3.855014256259892e-06, + "track": 7.475763936781732e-07, + "acceleration": 3.0515195703628706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.588303454511333e-06, + "observation_loss": 4.419961442181375e-06, + "chamfer": 3.7016457099525724e-06, + "track": 7.18315959602478e-07, + "acceleration": 1.6834181337799237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.602627996064257e-06, + "observation_loss": 4.402427293825895e-06, + "chamfer": 3.6831540910498006e-06, + "track": 7.192729754024185e-07, + "acceleration": 2.0020064539494342e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6415971155511215e-06, + "observation_loss": 4.358790647529531e-06, + "chamfer": 3.6455692224990344e-06, + "track": 7.132211976568215e-07, + "acceleration": 2.828065248650091e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.526907559920801e-06, + "observation_loss": 4.25258031100384e-06, + "chamfer": 3.558581283868989e-06, + "track": 6.939990271348506e-07, + "acceleration": 2.743272773386707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.583989266393473e-06, + "observation_loss": 4.1914436224033125e-06, + "chamfer": 3.5136051792505896e-06, + "track": 6.778383294658852e-07, + "acceleration": 3.925455587250326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.770186933455989e-06, + "observation_loss": 4.188109414826613e-06, + "chamfer": 3.5071029742539395e-06, + "track": 6.8100661110293e-07, + "acceleration": 5.820772912557004e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.702656951849349e-06, + "observation_loss": 4.206714947940782e-06, + "chamfer": 3.5061636936006835e-06, + "track": 7.005511974966794e-07, + "acceleration": 4.959421175954049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.711775090981973e-06, + "observation_loss": 4.384125531942118e-06, + "chamfer": 3.6343333249533316e-06, + "track": 7.497923775190429e-07, + "acceleration": 3.276496727266931e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.10133804709767e-06, + "observation_loss": 4.783385065820767e-06, + "chamfer": 3.9361725612252485e-06, + "track": 8.47212561438937e-07, + "acceleration": 3.179527823249373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.268223503662739e-06, + "observation_loss": 5.053779204899911e-06, + "chamfer": 4.143114892940503e-06, + "track": 9.106643688028271e-07, + "acceleration": 2.1444415665428096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.370522103476105e-06, + "observation_loss": 5.050291292718612e-06, + "chamfer": 4.145786533626961e-06, + "track": 9.045047022482322e-07, + "acceleration": 3.2023095286604075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.197481641516788e-06, + "observation_loss": 5.004685135645559e-06, + "chamfer": 4.120158791920403e-06, + "track": 8.845264005685749e-07, + "acceleration": 1.9279669061234017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.355353550839936e-06, + "observation_loss": 5.109496214572573e-06, + "chamfer": 4.211691248201532e-06, + "track": 8.978050232144597e-07, + "acceleration": 2.458573362673633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.699453140550759e-06, + "observation_loss": 5.303342732076999e-06, + "chamfer": 4.367022029327927e-06, + "track": 9.363207027490716e-07, + "acceleration": 3.9611055058230704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.2052054090599995e-06, + "observation_loss": 5.542235612665536e-06, + "chamfer": 4.556879048323026e-06, + "track": 9.8535656434251e-07, + "acceleration": 6.629699669247202e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.565849616890773e-06, + "observation_loss": 5.77215496377903e-06, + "chamfer": 4.72818373964401e-06, + "track": 1.0439713378218585e-06, + "acceleration": 7.936948236419994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.581664365512552e-06, + "observation_loss": 5.844765837537125e-06, + "chamfer": 4.7818634811847005e-06, + "track": 1.0629023563524242e-06, + "acceleration": 7.368985848188458e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.782053787901532e-06, + "observation_loss": 5.97114376432728e-06, + "chamfer": 4.86043791170232e-06, + "track": 1.110705966311798e-06, + "acceleration": 8.109101372610894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.638726972596487e-06, + "observation_loss": 6.223956006579101e-06, + "chamfer": 5.0369940254313406e-06, + "track": 1.186962208521436e-06, + "acceleration": 4.1477096601738594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.805854354752228e-06, + "observation_loss": 6.3308125390904024e-06, + "chamfer": 5.125703410158167e-06, + "track": 1.2051089015585603e-06, + "acceleration": 4.750417019749875e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.243038114916999e-06, + "observation_loss": 6.023199148330605e-06, + "chamfer": 4.904363322566496e-06, + "track": 1.1188357120772707e-06, + "acceleration": 2.198387534235735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.768163191532949e-06, + "observation_loss": 5.610225798591273e-06, + "chamfer": 4.584026555676246e-06, + "track": 1.0261992429150268e-06, + "acceleration": 1.5793736451996665e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.875797796761617e-06, + "observation_loss": 5.5734867601131555e-06, + "chamfer": 4.553282906272216e-06, + "track": 1.020203740154102e-06, + "acceleration": 3.02311065070171e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.1187988649180625e-06, + "observation_loss": 5.848297405464109e-06, + "chamfer": 4.7528810682706535e-06, + "track": 1.0954162235066178e-06, + "acceleration": 2.7050148787566286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.171047516545514e-06, + "observation_loss": 6.034429134160746e-06, + "chamfer": 4.878863819612889e-06, + "track": 1.1555650871741818e-06, + "acceleration": 1.3661829711963946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2589647313870955e-06, + "observation_loss": 6.219429906195728e-06, + "chamfer": 5.014017915527802e-06, + "track": 1.2054118769810884e-06, + "acceleration": 3.9535038354188146e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.386156201187987e-06, + "observation_loss": 6.301188477664255e-06, + "chamfer": 5.071973646408878e-06, + "track": 1.229214603881701e-06, + "acceleration": 8.496755299347569e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.506100362457801e-06, + "observation_loss": 6.353486696752952e-06, + "chamfer": 5.111103291710606e-06, + "track": 1.2423834050423466e-06, + "acceleration": 1.526137083374124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.689780548185809e-06, + "observation_loss": 6.49197727398132e-06, + "chamfer": 5.220106686465442e-06, + "track": 1.2718705875158776e-06, + "acceleration": 1.9780328841534356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1232325353776105e-06, + "observation_loss": 6.957842742849607e-06, + "chamfer": 5.568658707488794e-06, + "track": 1.3891838079871377e-06, + "acceleration": 1.6538969305202045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.72844759922009e-06, + "observation_loss": 7.581155387015315e-06, + "chamfer": 6.006984676787397e-06, + "track": 1.5741708239147556e-06, + "acceleration": 1.4729219799392013e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.26455288915895e-06, + "observation_loss": 7.976002052600961e-06, + "chamfer": 6.291057616181206e-06, + "track": 1.6849447774802684e-06, + "acceleration": 2.8855072287115036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.105751476250589e-06, + "observation_loss": 7.826588444004301e-06, + "chamfer": 6.192852197273169e-06, + "track": 1.6337361330442945e-06, + "acceleration": 2.791634869936388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.831748007447459e-06, + "observation_loss": 7.572223694296554e-06, + "chamfer": 6.01986766923801e-06, + "track": 1.5523557976848679e-06, + "acceleration": 2.595242563074862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.438693501171656e-06, + "observation_loss": 7.3507226261426695e-06, + "chamfer": 5.854850769537734e-06, + "track": 1.4958717429180979e-06, + "acceleration": 8.797105977009778e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.212262062239461e-06, + "observation_loss": 7.160992936405819e-06, + "chamfer": 5.71251985093113e-06, + "track": 1.4484730854746886e-06, + "acceleration": 5.1269044121227125e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.202941560535692e-06, + "observation_loss": 7.141185051295906e-06, + "chamfer": 5.69389294469147e-06, + "track": 1.447291879230761e-06, + "acceleration": 6.175640976380237e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.259034646267537e-06, + "observation_loss": 7.178897249104921e-06, + "chamfer": 5.7127276704704855e-06, + "track": 1.4661693512607599e-06, + "acceleration": 8.013729058120589e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.28524992155144e-06, + "observation_loss": 7.241298590088263e-06, + "chamfer": 5.756126483902335e-06, + "track": 1.4851722198727657e-06, + "acceleration": 4.395142028101873e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.511981038987869e-06, + "observation_loss": 7.303499387489865e-06, + "chamfer": 5.787956524727633e-06, + "track": 1.5155427490753937e-06, + "acceleration": 2.084814809677482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.862726306484547e-06, + "observation_loss": 7.368507340288488e-06, + "chamfer": 5.838495326315751e-06, + "track": 1.5300119002858992e-06, + "acceleration": 4.942193640999903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.498373063048348e-06, + "observation_loss": 7.49503215047298e-06, + "chamfer": 5.919583600189071e-06, + "track": 1.5754484365970711e-06, + "acceleration": 1.0033409125753678e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.079142728296574e-06, + "observation_loss": 7.641063348273747e-06, + "chamfer": 6.035029855411267e-06, + "track": 1.6060330381151289e-06, + "acceleration": 1.4380792663359898e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.636365237180144e-06, + "observation_loss": 7.789343726471998e-06, + "chamfer": 6.1491550695791375e-06, + "track": 1.6401889979533735e-06, + "acceleration": 8.470213970213081e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.4894736573915e-06, + "observation_loss": 8.130576134135481e-06, + "chamfer": 6.397703145921696e-06, + "track": 1.7328731019006227e-06, + "acceleration": 3.588979211599508e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.89012426341651e-06, + "observation_loss": 8.611995326646138e-06, + "chamfer": 6.728474090778036e-06, + "track": 1.8835210084944265e-06, + "acceleration": 2.7812853886644007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.294752999267075e-06, + "observation_loss": 9.17848592507653e-06, + "chamfer": 7.114503659977345e-06, + "track": 2.06398249247286e-06, + "acceleration": 1.1626684681687038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.57378597377101e-06, + "observation_loss": 9.486391718382947e-06, + "chamfer": 7.323130830627633e-06, + "track": 2.1632613425026648e-06, + "acceleration": 8.739414880665208e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.968417543859687e-06, + "observation_loss": 9.695799235487357e-06, + "chamfer": 7.466445822501555e-06, + "track": 2.2293534129858017e-06, + "acceleration": 2.726184789025865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.006615912046982e-05, + "observation_loss": 9.895714356389362e-06, + "chamfer": 7.577758879051544e-06, + "track": 2.3179554773378186e-06, + "acceleration": 1.7044436617652536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0114280485140625e-05, + "observation_loss": 9.99873736873269e-06, + "chamfer": 7.6356018325896e-06, + "track": 2.363135763516766e-06, + "acceleration": 1.155427611365667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0223716344626155e-05, + "observation_loss": 9.90050921245711e-06, + "chamfer": 7.5712214311352e-06, + "track": 2.329287553948234e-06, + "acceleration": 3.2320670584340405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0449972251080908e-05, + "observation_loss": 9.644365491112694e-06, + "chamfer": 7.414942047034856e-06, + "track": 2.229423898825189e-06, + "acceleration": 8.056064189077006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0039202607003972e-05, + "observation_loss": 9.55292762228055e-06, + "chamfer": 7.3462565524096135e-06, + "track": 2.206671297244611e-06, + "acceleration": 4.862745868194907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.704927833809052e-06, + "observation_loss": 9.485857844993006e-06, + "chamfer": 7.299711796804331e-06, + "track": 2.1861458208149998e-06, + "acceleration": 2.190696903880962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.588422472006641e-06, + "observation_loss": 9.316484465671238e-06, + "chamfer": 7.176854524004739e-06, + "track": 2.1396297142928233e-06, + "acceleration": 2.719375800097623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.75436887529213e-06, + "observation_loss": 9.244618922821246e-06, + "chamfer": 7.117095719877398e-06, + "track": 2.127522975570173e-06, + "acceleration": 5.097500093143026e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2739323210553266e-05, + "observation_loss": 9.392389983986504e-06, + "chamfer": 7.199171250249492e-06, + "track": 2.1932182789896615e-06, + "acceleration": 3.346932771819411e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2519292795332149e-05, + "observation_loss": 9.625068742025178e-06, + "chamfer": 7.351868589466903e-06, + "track": 2.2732001525582746e-06, + "acceleration": 2.8942238259332953e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0370267773396336e-05, + "observation_loss": 9.552024494041689e-06, + "chamfer": 7.3034998422372155e-06, + "track": 2.248524424430798e-06, + "acceleration": 8.182433930414845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0479198863322381e-05, + "observation_loss": 9.652296284912154e-06, + "chamfer": 7.362944415945094e-06, + "track": 2.289351414219709e-06, + "acceleration": 8.2690291947074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0103109161718749e-05, + "observation_loss": 9.770955330168363e-06, + "chamfer": 7.435876796080265e-06, + "track": 2.335078761461773e-06, + "acceleration": 3.3215340522474435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0052281140815467e-05, + "observation_loss": 9.922877325152513e-06, + "chamfer": 7.513629952882184e-06, + "track": 2.4092475996440044e-06, + "acceleration": 1.2940425619945017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0241950803902e-05, + "observation_loss": 1.0091072908835486e-05, + "chamfer": 7.597544481541263e-06, + "track": 2.4935284272942226e-06, + "acceleration": 1.5087766769283917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.041001178236911e-05, + "observation_loss": 1.0331523299100809e-05, + "chamfer": 7.753680620226078e-06, + "track": 2.5778429062484065e-06, + "acceleration": 7.848836958146421e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0747498890850693e-05, + "observation_loss": 1.0659740837581921e-05, + "chamfer": 7.978614121384453e-06, + "track": 2.6811269435711438e-06, + "acceleration": 8.775772641911317e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0996450328093488e-05, + "observation_loss": 1.0888237738981843e-05, + "chamfer": 8.132565199048258e-06, + "track": 2.75567276730726e-06, + "acceleration": 1.0821231199997783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1085944606747944e-05, + "observation_loss": 1.0974660654028412e-05, + "chamfer": 8.174117283488158e-06, + "track": 2.800543370540254e-06, + "acceleration": 1.112840450900876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1190439181518741e-05, + "observation_loss": 1.1049054592149332e-05, + "chamfer": 8.221372809202876e-06, + "track": 2.8276820103201317e-06, + "acceleration": 1.4138427673060505e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1299734978820197e-05, + "observation_loss": 1.1146281394758262e-05, + "chamfer": 8.274670108221471e-06, + "track": 2.8716108317894395e-06, + "acceleration": 1.534532572122771e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1240581443416886e-05, + "observation_loss": 1.1152767910971306e-05, + "chamfer": 8.266585609817412e-06, + "track": 2.8861823011538945e-06, + "acceleration": 8.7813795346392e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1397100024623796e-05, + "observation_loss": 1.1153875675518066e-05, + "chamfer": 8.267157681984827e-06, + "track": 2.8867179935332388e-06, + "acceleration": 2.432239227800892e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1350228305673227e-05, + "observation_loss": 1.122548655985156e-05, + "chamfer": 8.304157745442353e-06, + "track": 2.921329041782883e-06, + "acceleration": 1.2474154686969996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1397610251151491e-05, + "observation_loss": 1.1304125109745655e-05, + "chamfer": 8.339019586856011e-06, + "track": 2.965105522889644e-06, + "acceleration": 9.34852835143829e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1456661013653502e-05, + "observation_loss": 1.1364769306965172e-05, + "chamfer": 8.375402103411034e-06, + "track": 2.9893676583014894e-06, + "acceleration": 9.18918203751673e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1533047654666007e-05, + "observation_loss": 1.1449999874457717e-05, + "chamfer": 8.421986422035843e-06, + "track": 3.0280132250481984e-06, + "acceleration": 8.304768783773397e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1511167940625455e-05, + "observation_loss": 1.1403700227674562e-05, + "chamfer": 8.396216799155809e-06, + "track": 3.007483201145078e-06, + "acceleration": 1.0746796164085026e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1336562238284387e-05, + "observation_loss": 1.1244161214563064e-05, + "chamfer": 8.295945917780045e-06, + "track": 2.9482157515303697e-06, + "acceleration": 9.24012439895705e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.235520553512288e-06, + "chamfer_mean": 5.65003800308735e-06, + "track_mean": 1.5427297164194442e-06, + "acceleration_mean": 1.042752764209472e-06, + "observation_score": 7.1927677301649355e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4145853509999142 + }, + "score_arrays_file": "pass_scores/pass_end_0310.npz", + "score_arrays_sha256": "9f0b2d89d8b8fc017fdf8b56f48ac5e0d77293f5e48148c236995537b7112751" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0311.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0311.json new file mode 100644 index 0000000000000000000000000000000000000000..1459836626a8cc3e09570ecee29e98c41cb0549d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0311.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29856, + "completed_passes": 311, + "snapshot": "pass_end_0311", + "candidate": true, + "snapshot_arrays_sha256": "60ad1b37cf20e81ccce30046dc8b1a6c6df4f97e92e3854772b4cfeb90c2b9de", + "score": 7.1895418827239155e-06, + "score_result": { + "score": 7.1895418827239155e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8726690288749523e-06, + 3.157399987685494e-06, + 3.2716050100134453e-06, + 3.704875325638568e-06, + 4.223536961944774e-06, + 4.437612005858682e-06, + 4.194610482954886e-06, + 4.051697487739148e-06, + 3.99391046812525e-06, + 4.100196292711189e-06, + 4.480754796531983e-06, + 4.9422924348618835e-06, + 5.251536094874609e-06, + 5.460431566461921e-06, + 5.456934559333604e-06, + 5.346458237909246e-06, + 4.987986812921008e-06, + 4.599364729074296e-06, + 4.416875526658259e-06, + 4.399661520437803e-06, + 4.356025328888791e-06, + 4.248300683684647e-06, + 4.1862526813929435e-06, + 4.183223609288689e-06, + 4.2038600440719165e-06, + 4.382718543638475e-06, + 4.782387804880273e-06, + 5.052197138866177e-06, + 5.048226739745587e-06, + 5.0020998969557695e-06, + 5.1094225455017295e-06, + 5.306073944666423e-06, + 5.5439431889681146e-06, + 5.772208169219084e-06, + 5.843643521075137e-06, + 5.970715847070096e-06, + 6.2279914345708676e-06, + 6.3378492995980196e-06, + 6.029096766724251e-06, + 5.611250799120171e-06, + 5.569306722463807e-06, + 5.844053248438286e-06, + 6.030787062627496e-06, + 6.215112989593763e-06, + 6.296656920312671e-06, + 6.349152045004303e-06, + 6.487992322945502e-06, + 6.953455340408254e-06, + 7.575867130071856e-06, + 7.970649676281027e-06, + 7.821171493560541e-06, + 7.567369721073192e-06, + 7.347095561271999e-06, + 7.158135304052848e-06, + 7.138621640478959e-06, + 7.176296549005201e-06, + 7.238903890538495e-06, + 7.301049208763288e-06, + 7.3665955824253615e-06, + 7.493241355405189e-06, + 7.639554496563505e-06, + 7.787972208461724e-06, + 8.129531124723144e-06, + 8.611509656475391e-06, + 9.178696018352639e-06, + 9.487379429629073e-06, + 9.697381756268442e-06, + 9.897603376884945e-06, + 1.0000788279285189e-05, + 9.90264834399568e-06, + 9.646154467191081e-06, + 9.554963071423117e-06, + 9.487368515692651e-06, + 9.317145668319426e-06, + 9.245366527466103e-06, + 9.388995749759488e-06, + 9.621388016967103e-06, + 9.551826224196702e-06, + 9.650010724726599e-06, + 9.766919902176596e-06, + 9.917252100422047e-06, + 1.0083810593641829e-05, + 1.0321919035050087e-05, + 1.0648831448634155e-05, + 1.0876919077418279e-05, + 1.0962875421682838e-05, + 1.1036903742933646e-05, + 1.1134839041915257e-05, + 1.1141237337142229e-05, + 1.1141601135022938e-05, + 1.1213854122615885e-05, + 1.1292068847978953e-05, + 1.1352660294505768e-05, + 1.1436838576628361e-05, + 1.1390513463993557e-05, + 1.1231281860091258e-05 + ] + ], + "episode_mean_losses": [ + 7.1895418827239155e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8726690288749523e-06, + "observation_loss": 2.8726690288749523e-06, + "chamfer": 2.436807335470803e-06, + "track": 4.358617218258587e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.14627866121009e-05, + "observation_loss": 3.157399987685494e-06, + "chamfer": 2.670361482159933e-06, + "track": 4.870385623689799e-07, + "acceleration": 3.8305384805426e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3218228307086974e-05, + "observation_loss": 3.2716050100134453e-06, + "chamfer": 2.770027776932693e-06, + "track": 5.015772899241711e-07, + "acceleration": 1.9946623069699854e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0146974091185257e-05, + "observation_loss": 3.704875325638568e-06, + "chamfer": 3.1245117497746833e-06, + "track": 5.803635190204659e-07, + "acceleration": 6.442098310799338e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.953874733677367e-06, + "observation_loss": 4.223536961944774e-06, + "chamfer": 3.5426492104306817e-06, + "track": 6.808875241404166e-07, + "acceleration": 1.730337771732593e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.565484570979606e-06, + "observation_loss": 4.437612005858682e-06, + "chamfer": 3.7133372643438634e-06, + "track": 7.242749120450753e-07, + "acceleration": 1.1278725651209243e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.858444299316034e-06, + "observation_loss": 4.194610482954886e-06, + "chamfer": 3.515361413519713e-06, + "track": 6.792490125917539e-07, + "acceleration": 6.638336458308913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.595275186147774e-06, + "observation_loss": 4.051697487739148e-06, + "chamfer": 3.401158892302192e-06, + "track": 6.505386522803747e-07, + "acceleration": 5.435777552520449e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.459814135771012e-06, + "observation_loss": 3.99391046812525e-06, + "chamfer": 3.3573551263543777e-06, + "track": 6.365551712406159e-07, + "acceleration": 4.65903553958924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.404874289321015e-06, + "observation_loss": 4.100196292711189e-06, + "chamfer": 3.4445572509866906e-06, + "track": 6.556390417244984e-07, + "acceleration": 3.046780534532445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.612784323398955e-06, + "observation_loss": 4.480754796531983e-06, + "chamfer": 3.754155613933108e-06, + "track": 7.265989552251995e-07, + "acceleration": 1.3202959792124602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.031585260439897e-06, + "observation_loss": 4.9422924348618835e-06, + "chamfer": 4.124575298192212e-06, + "track": 8.177170229828334e-07, + "acceleration": 8.929275452373986e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3409457905218005e-06, + "observation_loss": 5.251536094874609e-06, + "chamfer": 4.378766789159272e-06, + "track": 8.727695330890128e-07, + "acceleration": 8.940970275261861e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.5641980907239486e-06, + "observation_loss": 5.460431566461921e-06, + "chamfer": 4.556503427011194e-06, + "track": 9.039283099809836e-07, + "acceleration": 1.0376638215348066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.516008968697861e-06, + "observation_loss": 5.456934559333604e-06, + "chamfer": 4.557392003334826e-06, + "track": 8.995424423119402e-07, + "acceleration": 5.907440225882965e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.467639311973471e-06, + "observation_loss": 5.346458237909246e-06, + "chamfer": 4.467232884053374e-06, + "track": 8.79225581229548e-07, + "acceleration": 1.211813014379004e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.193120159674436e-06, + "observation_loss": 4.987986812921008e-06, + "chamfer": 4.173368324700277e-06, + "track": 8.146183745338931e-07, + "acceleration": 2.0513321885573532e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.904244633507915e-06, + "observation_loss": 4.599364729074296e-06, + "chamfer": 3.852388090308523e-06, + "track": 7.469767524526105e-07, + "acceleration": 3.0487981916849094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.584268026519567e-06, + "observation_loss": 4.416875526658259e-06, + "chamfer": 3.699091394082643e-06, + "track": 7.177843599492917e-07, + "acceleration": 1.6739262775899988e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.598477062245365e-06, + "observation_loss": 4.399661520437803e-06, + "chamfer": 3.680860118038254e-06, + "track": 7.188014023995493e-07, + "acceleration": 1.9881559865098097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.639142844098387e-06, + "observation_loss": 4.356025328888791e-06, + "chamfer": 3.6432968499866547e-06, + "track": 7.12728478902136e-07, + "acceleration": 2.831176857398532e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.522211384028196e-06, + "observation_loss": 4.248300683684647e-06, + "chamfer": 3.555062221494154e-06, + "track": 6.932385190339119e-07, + "acceleration": 2.739106719218398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.589883701555664e-06, + "observation_loss": 4.1862526813929435e-06, + "chamfer": 3.509314183247625e-06, + "track": 6.76938327615062e-07, + "acceleration": 4.0363113384955795e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.795654149347683e-06, + "observation_loss": 4.183223609288689e-06, + "chamfer": 3.5030595881835325e-06, + "track": 6.801637937314808e-07, + "acceleration": 6.124305400589947e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.718202035292052e-06, + "observation_loss": 4.2038600440719165e-06, + "chamfer": 3.503753987388336e-06, + "track": 7.00105829309905e-07, + "acceleration": 5.143418206898787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.715417162515223e-06, + "observation_loss": 4.382718543638475e-06, + "chamfer": 3.6331932733446592e-06, + "track": 7.495250429201405e-07, + "acceleration": 3.3269884625042323e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0971821110579185e-06, + "observation_loss": 4.782387804880273e-06, + "chamfer": 3.935390395781724e-06, + "track": 8.469976364722243e-07, + "acceleration": 3.147941924908082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.263158982415916e-06, + "observation_loss": 5.052197138866177e-06, + "chamfer": 4.1417797547183e-06, + "track": 9.10417327304458e-07, + "acceleration": 2.1096175828461128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3643811952497344e-06, + "observation_loss": 5.048226739745587e-06, + "chamfer": 4.144041213294258e-06, + "track": 9.041856401381665e-07, + "acceleration": 3.161543133956002e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.1948077270935755e-06, + "observation_loss": 5.0020998969557695e-06, + "chamfer": 4.118039669265272e-06, + "track": 8.840602845339163e-07, + "acceleration": 1.9270804330062674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.347005298972363e-06, + "observation_loss": 5.1094225455017295e-06, + "chamfer": 4.21163349528797e-06, + "track": 8.977890502137598e-07, + "acceleration": 2.3758282452490675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.665358457918046e-06, + "observation_loss": 5.306073944666423e-06, + "chamfer": 4.369204361864831e-06, + "track": 9.368697533318482e-07, + "acceleration": 3.592843142996571e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.106128694227664e-06, + "observation_loss": 5.5439431889681146e-06, + "chamfer": 4.558371074381284e-06, + "track": 9.855722282736679e-07, + "acceleration": 5.621854484161304e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.516040230053477e-06, + "observation_loss": 5.772208169219084e-06, + "chamfer": 4.728662588604493e-06, + "track": 1.0435456943014287e-06, + "acceleration": 7.438318334607175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.546798431372736e-06, + "observation_loss": 5.843643521075137e-06, + "chamfer": 4.781500138051342e-06, + "track": 1.0621431556501193e-06, + "acceleration": 7.031546829239232e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.750829470547615e-06, + "observation_loss": 5.970715847070096e-06, + "chamfer": 4.860506123804953e-06, + "track": 1.1102098369519808e-06, + "acceleration": 7.801136234775186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.6580869315657765e-06, + "observation_loss": 6.2279914345708676e-06, + "chamfer": 5.040152245783247e-06, + "track": 1.1878390751007828e-06, + "acceleration": 4.3009526962123346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.806609235354699e-06, + "observation_loss": 6.3378492995980196e-06, + "chamfer": 5.131022135174135e-06, + "track": 1.2068269370502094e-06, + "acceleration": 4.6876016313035507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.2571907619712874e-06, + "observation_loss": 6.029096766724251e-06, + "chamfer": 4.908867595077027e-06, + "track": 1.1202289442735491e-06, + "acceleration": 2.2809395261447207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.774308192485478e-06, + "observation_loss": 5.611250799120171e-06, + "chamfer": 4.5847900764783844e-06, + "track": 1.0264608363286243e-06, + "acceleration": 1.630575070521445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.872821475350065e-06, + "observation_loss": 5.569306722463807e-06, + "chamfer": 4.549993718683254e-06, + "track": 1.0193131174673908e-06, + "acceleration": 3.035145823560015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.113355084380601e-06, + "observation_loss": 5.844053248438286e-06, + "chamfer": 4.749523213831708e-06, + "track": 1.0945299209197401e-06, + "acceleration": 2.6930175067718665e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.163708803796908e-06, + "observation_loss": 6.030787062627496e-06, + "chamfer": 4.8759602577774785e-06, + "track": 1.15482669116318e-06, + "acceleration": 1.329219401213777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2564736253989395e-06, + "observation_loss": 6.215112989593763e-06, + "chamfer": 5.010665518057067e-06, + "track": 1.204447471536696e-06, + "acceleration": 4.136061093618082e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.380911599990213e-06, + "observation_loss": 6.296656920312671e-06, + "chamfer": 5.0684398047451396e-06, + "track": 1.2282172292543692e-06, + "acceleration": 8.425456599070458e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.501412826764863e-06, + "observation_loss": 6.349152045004303e-06, + "chamfer": 5.107696779305115e-06, + "track": 1.2414551520123496e-06, + "acceleration": 1.5226061123030377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.68734446662711e-06, + "observation_loss": 6.487992322945502e-06, + "chamfer": 5.2170071285218e-06, + "track": 1.2709849670500262e-06, + "acceleration": 1.9935197315135156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.119076144590508e-06, + "observation_loss": 6.953455340408254e-06, + "chamfer": 5.565333140111761e-06, + "track": 1.3881220866096555e-06, + "acceleration": 1.6562097471251036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.723525413894095e-06, + "observation_loss": 7.575867130071856e-06, + "chamfer": 6.003097496432019e-06, + "track": 1.572769519952999e-06, + "acceleration": 1.4765868172617047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.258009074779693e-06, + "observation_loss": 7.970649676281027e-06, + "chamfer": 6.287270934990374e-06, + "track": 1.6833790823511663e-06, + "acceleration": 2.8735976798088814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.10131496109534e-06, + "observation_loss": 7.821171493560541e-06, + "chamfer": 6.188947281771107e-06, + "track": 1.632224098102597e-06, + "acceleration": 2.801432685828331e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.827758963685483e-06, + "observation_loss": 7.567369721073192e-06, + "chamfer": 6.01628153162892e-06, + "track": 1.5510879620705964e-06, + "acceleration": 2.6038946998596657e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.435225143126445e-06, + "observation_loss": 7.347095561271999e-06, + "chamfer": 5.852131835126784e-06, + "track": 1.4949636124583776e-06, + "acceleration": 8.812956053816379e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.209933301055571e-06, + "observation_loss": 7.158135304052848e-06, + "chamfer": 5.71033433516277e-06, + "track": 1.4478011962637538e-06, + "acceleration": 5.179801121357741e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.201203516160604e-06, + "observation_loss": 7.138621640478959e-06, + "chamfer": 5.691925707651535e-06, + "track": 1.446696046514262e-06, + "acceleration": 6.258176199480658e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.256571279867785e-06, + "observation_loss": 7.176296549005201e-06, + "chamfer": 5.710708137485199e-06, + "track": 1.4655882978331647e-06, + "acceleration": 8.027459585946417e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.282646947714966e-06, + "observation_loss": 7.238903890538495e-06, + "chamfer": 5.754215180786559e-06, + "track": 1.4846887097519357e-06, + "acceleration": 4.374325612843677e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.509638635383453e-06, + "observation_loss": 7.301049208763288e-06, + "chamfer": 5.786018846265506e-06, + "track": 1.51503047618462e-06, + "acceleration": 2.085893413550366e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.863316568545997e-06, + "observation_loss": 7.3665955824253615e-06, + "chamfer": 5.8369605540065095e-06, + "track": 1.5296349147320143e-06, + "acceleration": 4.967209861206356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.501865522703156e-06, + "observation_loss": 7.493241355405189e-06, + "chamfer": 5.918158876738744e-06, + "track": 1.5750827060401207e-06, + "acceleration": 1.0086237125506159e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.083525583264418e-06, + "observation_loss": 7.639554496563505e-06, + "chamfer": 6.033835234120488e-06, + "track": 1.6057191487561795e-06, + "acceleration": 1.4439712003877503e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.637660357635468e-06, + "observation_loss": 7.787972208461724e-06, + "chamfer": 6.148080046841642e-06, + "track": 1.6398920479332446e-06, + "acceleration": 8.496878081132309e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.488755156577099e-06, + "observation_loss": 8.129531124723144e-06, + "chamfer": 6.396861863322556e-06, + "track": 1.7326691477137501e-06, + "acceleration": 3.5922440133617783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.889219316188246e-06, + "observation_loss": 8.611509656475391e-06, + "chamfer": 6.728034350089729e-06, + "track": 1.8834756474461756e-06, + "acceleration": 2.7770971655627363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.294532901549246e-06, + "observation_loss": 9.178696018352639e-06, + "chamfer": 7.114612344594207e-06, + "track": 2.064083446384757e-06, + "acceleration": 1.1583716030827418e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.574590876582079e-06, + "observation_loss": 9.487379429629073e-06, + "chamfer": 7.323888894461561e-06, + "track": 2.163490307793836e-06, + "acceleration": 8.72111769467665e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.969971870305017e-06, + "observation_loss": 9.697381756268442e-06, + "chamfer": 7.467723662557546e-06, + "track": 2.2296580937108956e-06, + "acceleration": 2.7259011403657496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0068137271446176e-05, + "observation_loss": 9.897603376884945e-06, + "chamfer": 7.5792700044985395e-06, + "track": 2.3183335997600807e-06, + "acceleration": 1.705339656155047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.011635504255537e-05, + "observation_loss": 1.0000788279285189e-05, + "chamfer": 7.637214366695844e-06, + "track": 2.363573912589345e-06, + "acceleration": 1.155666922159071e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0227070561086293e-05, + "observation_loss": 9.90264834399568e-06, + "chamfer": 7.5728976298705675e-06, + "track": 2.329750941498787e-06, + "acceleration": 3.24422074982067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0453653885633685e-05, + "observation_loss": 9.646154467191081e-06, + "chamfer": 7.416270364046795e-06, + "track": 2.2298843305179616e-06, + "acceleration": 8.074995321294409e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0042898793471977e-05, + "observation_loss": 9.554963071423117e-06, + "chamfer": 7.347837254201295e-06, + "track": 2.2071255898481468e-06, + "acceleration": 4.879356652054412e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.707923709356692e-06, + "observation_loss": 9.487368515692651e-06, + "chamfer": 7.300899142137496e-06, + "track": 2.1864698283025064e-06, + "acceleration": 2.2055500892292912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.588859938958194e-06, + "observation_loss": 9.317145668319426e-06, + "chamfer": 7.1773474701331e-06, + "track": 2.1397979708126513e-06, + "acceleration": 2.717143274821865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.741016583575401e-06, + "observation_loss": 9.245366527466103e-06, + "chamfer": 7.117734639905393e-06, + "track": 2.1276318875607103e-06, + "acceleration": 4.956503971698112e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2735874406644143e-05, + "observation_loss": 9.388995749759488e-06, + "chamfer": 7.196490514616016e-06, + "track": 2.1925047803961206e-06, + "acceleration": 3.34687842951098e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2523159966804087e-05, + "observation_loss": 9.621388016967103e-06, + "chamfer": 7.34908144295332e-06, + "track": 2.2723063466401072e-06, + "acceleration": 2.9017714950896334e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0371279131504707e-05, + "observation_loss": 9.551826224196702e-06, + "chamfer": 7.303426173166372e-06, + "track": 2.248399823656655e-06, + "acceleration": 8.194531346816802e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0481830940989312e-05, + "observation_loss": 9.650010724726599e-06, + "chamfer": 7.361204097833252e-06, + "track": 2.288806626893347e-06, + "acceleration": 8.31819818358781e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.010081723507028e-05, + "observation_loss": 9.766919902176596e-06, + "chamfer": 7.433166501868982e-06, + "track": 2.33375362768129e-06, + "acceleration": 3.3389710552000906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.005144167720573e-05, + "observation_loss": 9.917252100422047e-06, + "chamfer": 7.510287559853168e-06, + "track": 2.406964085821528e-06, + "acceleration": 1.341893494100077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0238613867841195e-05, + "observation_loss": 1.0083810593641829e-05, + "chamfer": 7.593286682094913e-06, + "track": 2.4905236841732403e-06, + "acceleration": 1.548028336628704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0402647603768855e-05, + "observation_loss": 1.0321919035050087e-05, + "chamfer": 7.747909876343329e-06, + "track": 2.5740087039594073e-06, + "acceleration": 8.072820634197342e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0736887816165108e-05, + "observation_loss": 1.0648831448634155e-05, + "chamfer": 7.972043022164144e-06, + "track": 2.6767884264700115e-06, + "acceleration": 8.805598383787583e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0986798770318273e-05, + "observation_loss": 1.0876919077418279e-05, + "chamfer": 8.125752174237277e-06, + "track": 2.7511669031810015e-06, + "acceleration": 1.0987928789063517e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1075655493186787e-05, + "observation_loss": 1.0962875421682838e-05, + "chamfer": 8.16709507489577e-06, + "track": 2.7957801194133935e-06, + "acceleration": 1.1278027756134179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1179084140167106e-05, + "observation_loss": 1.1036903742933646e-05, + "chamfer": 8.213924957090057e-06, + "track": 2.822978558469913e-06, + "acceleration": 1.4217995669696393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1289003850833979e-05, + "observation_loss": 1.1134839041915257e-05, + "chamfer": 8.267897101177368e-06, + "track": 2.8669417133642128e-06, + "acceleration": 1.541644536473541e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1231128155486658e-05, + "observation_loss": 1.1141237337142229e-05, + "chamfer": 8.259775313490536e-06, + "track": 2.881462478399044e-06, + "acceleration": 8.989112387780551e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1388010534574278e-05, + "observation_loss": 1.1141601135022938e-05, + "chamfer": 8.259768037532922e-06, + "track": 2.881833324863692e-06, + "acceleration": 2.4640939955133945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1340230230416637e-05, + "observation_loss": 1.1213854122615885e-05, + "chamfer": 8.297405656776391e-06, + "track": 2.916448465839494e-06, + "acceleration": 1.2637650570468395e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1386028745619114e-05, + "observation_loss": 1.1292068847978953e-05, + "chamfer": 8.331976459885482e-06, + "track": 2.960092160719796e-06, + "acceleration": 9.39596986881952e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.144416910392465e-05, + "observation_loss": 1.1352660294505768e-05, + "chamfer": 8.368480848730542e-06, + "track": 2.984179673148901e-06, + "acceleration": 9.150922863909727e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1519456165842712e-05, + "observation_loss": 1.1436838576628361e-05, + "chamfer": 8.41428482090123e-06, + "track": 3.0225535283534555e-06, + "acceleration": 8.261744000037652e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1498025742184836e-05, + "observation_loss": 1.1390513463993557e-05, + "chamfer": 8.388601600017864e-06, + "track": 3.0019114092283417e-06, + "acceleration": 1.0751183054935609e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1323893886583392e-05, + "observation_loss": 1.1231281860091258e-05, + "chamfer": 8.288466233352665e-06, + "track": 2.9428153993649175e-06, + "acceleration": 9.261174227503943e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.230566839036632e-06, + "chamfer_mean": 5.647870876164991e-06, + "track_mean": 1.5416709742884411e-06, + "acceleration_mean": 1.0410248909205795e-06, + "observation_score": 7.1895418827239155e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4399017430005188 + }, + "score_arrays_file": "pass_scores/pass_end_0311.npz", + "score_arrays_sha256": "7ddb877319d1be5ab8178eacf755c9da58792556d4fb46f7f33291c56552aea5" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0312.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0312.json new file mode 100644 index 0000000000000000000000000000000000000000..472d78577341f9281e7cfeca874a84a32cd7cf3a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0312.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 29952, + "completed_passes": 312, + "snapshot": "pass_end_0312", + "candidate": true, + "snapshot_arrays_sha256": "bfa3fb8b2df86b00d315cb29916d237a0e7e8904d273b7c88756e52c096de92f", + "score": 7.1878304079101936e-06, + "score_result": { + "score": 7.1878304079101936e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872616505555925e-06, + 3.157317223667633e-06, + 3.2702012049412588e-06, + 3.7037136735307286e-06, + 4.222317784297047e-06, + 4.436419203557307e-06, + 4.193132554064505e-06, + 4.049655672133667e-06, + 3.991734956798609e-06, + 4.097665623703506e-06, + 4.478298251342494e-06, + 4.9395889618608635e-06, + 5.2489408517431e-06, + 5.457706265588058e-06, + 5.454324764286866e-06, + 5.343647444533417e-06, + 4.985174200555775e-06, + 4.59651982964715e-06, + 4.414376689965138e-06, + 4.397384145704564e-06, + 4.353242729848716e-06, + 4.244740011927206e-06, + 4.18193667428568e-06, + 4.179274583293591e-06, + 4.20157903135987e-06, + 4.381521193863591e-06, + 4.781224106409354e-06, + 5.049733772466425e-06, + 5.045323632657528e-06, + 4.998754775442649e-06, + 5.108242476126179e-06, + 5.30773468199186e-06, + 5.545881322177593e-06, + 5.773271368525457e-06, + 5.844412498845486e-06, + 5.971135124127613e-06, + 6.2297858676174656e-06, + 6.342478172882693e-06, + 6.034190846548881e-06, + 5.612138465949101e-06, + 5.565622359426925e-06, + 5.841128313477384e-06, + 6.028521056578029e-06, + 6.212241714820266e-06, + 6.293640581134241e-06, + 6.346170721371891e-06, + 6.485688572865911e-06, + 6.951639079488814e-06, + 7.57314001020859e-06, + 7.967057172209024e-06, + 7.81870312493993e-06, + 7.5659240792447235e-06, + 7.346357961068861e-06, + 7.158076186897233e-06, + 7.139030458347406e-06, + 7.177042789408006e-06, + 7.2400598583044484e-06, + 7.302516678464599e-06, + 7.368699698417913e-06, + 7.496020771213807e-06, + 7.64311698731035e-06, + 7.792851647536736e-06, + 8.135413736454211e-06, + 8.61812168295728e-06, + 9.18604746402707e-06, + 9.49523746385239e-06, + 9.705875527288299e-06, + 9.906181730912067e-06, + 1.0009849574998952e-05, + 9.911786946759094e-06, + 9.654955647420138e-06, + 9.562847480992787e-06, + 9.494182449998334e-06, + 9.322244295617566e-06, + 9.249256436305586e-06, + 9.388612852490041e-06, + 9.620405762689188e-06, + 9.553547897667158e-06, + 9.649094863561913e-06, + 9.763414709595963e-06, + 9.911717825161759e-06, + 1.0076391845359467e-05, + 1.0312056474504061e-05, + 1.0637914783728775e-05, + 1.0865172953344882e-05, + 1.095064180844929e-05, + 1.1023923434549943e-05, + 1.1121811439807061e-05, + 1.1128595360787585e-05, + 1.1128257028758526e-05, + 1.1200728295079898e-05, + 1.1278924830548931e-05, + 1.1339697266521398e-05, + 1.142304881796008e-05, + 1.1377040209481493e-05, + 1.1218133295187727e-05 + ] + ], + "episode_mean_losses": [ + 7.1878304079101936e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872616505555925e-06, + "observation_loss": 2.872616505555925e-06, + "chamfer": 2.436753902657074e-06, + "track": 4.358626597422699e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1464216337772086e-05, + "observation_loss": 3.157317223667633e-06, + "chamfer": 2.670285994099686e-06, + "track": 4.870312295679469e-07, + "acceleration": 3.830689820460975e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.321061401744373e-05, + "observation_loss": 3.2702012049412588e-06, + "chamfer": 2.7688613499776693e-06, + "track": 5.013397981201706e-07, + "acceleration": 1.9940413039876148e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0143475265067536e-05, + "observation_loss": 3.7037136735307286e-06, + "chamfer": 3.1235445021593478e-06, + "track": 5.801691145279619e-07, + "acceleration": 6.439761818910483e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.941156359767774e-06, + "observation_loss": 4.222317784297047e-06, + "chamfer": 3.5416369428276084e-06, + "track": 6.806808983128576e-07, + "acceleration": 1.7188386891575647e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5619075283175334e-06, + "observation_loss": 4.436419203557307e-06, + "chamfer": 3.7123338643141324e-06, + "track": 7.240852823997557e-07, + "acceleration": 1.125488097386551e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.855326551478356e-06, + "observation_loss": 4.193132554064505e-06, + "chamfer": 3.5141108583047753e-06, + "track": 6.790218662899861e-07, + "acceleration": 6.621942247875268e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.594367510435404e-06, + "observation_loss": 4.049655672133667e-06, + "chamfer": 3.399435399842332e-06, + "track": 6.502203291347541e-07, + "acceleration": 5.447117246148991e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.457986051420448e-06, + "observation_loss": 3.991734956798609e-06, + "chamfer": 3.3555327263457002e-06, + "track": 6.362021167660714e-07, + "acceleration": 4.6625103777842014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.402184458740521e-06, + "observation_loss": 4.097665623703506e-06, + "chamfer": 3.442452225499437e-06, + "track": 6.552133413606498e-07, + "acceleration": 3.0451889188043424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.6106401896395255e-06, + "observation_loss": 4.478298251342494e-06, + "chamfer": 3.752136535695172e-06, + "track": 7.261619430209976e-07, + "acceleration": 1.3234192408617673e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.029405201639747e-06, + "observation_loss": 4.9395889618608635e-06, + "chamfer": 4.122373866266571e-06, + "track": 8.172151524377114e-07, + "acceleration": 8.981642451999505e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.338432856660802e-06, + "observation_loss": 5.2489408517431e-06, + "chamfer": 4.376665856398176e-06, + "track": 8.722751658751804e-07, + "acceleration": 8.949189833629134e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.561241778195836e-06, + "observation_loss": 5.457706265588058e-06, + "chamfer": 4.554312454274623e-06, + "track": 9.033938681568543e-07, + "acceleration": 1.0353559076747842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.513471933227265e-06, + "observation_loss": 5.454324764286866e-06, + "chamfer": 4.5552988012786955e-06, + "track": 8.990261335384275e-07, + "acceleration": 5.9147275521809206e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.465057711262489e-06, + "observation_loss": 5.343647444533417e-06, + "chamfer": 4.464961875783047e-06, + "track": 8.786854550635326e-07, + "acceleration": 1.2141008198796044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.190365300222766e-06, + "observation_loss": 4.985174200555775e-06, + "chamfer": 4.1710804907779675e-06, + "track": 8.140935392475512e-07, + "acceleration": 2.0519104282357148e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.9016903176379856e-06, + "observation_loss": 4.59651982964715e-06, + "chamfer": 3.8500743357872125e-06, + "track": 7.46445266486262e-07, + "acceleration": 3.051704879908357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.581288521876559e-06, + "observation_loss": 4.414376689965138e-06, + "chamfer": 3.697028205351671e-06, + "track": 7.173485414568859e-07, + "acceleration": 1.6691194559825817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.59548346043448e-06, + "observation_loss": 4.397384145704564e-06, + "chamfer": 3.678978600873961e-06, + "track": 7.184054879871837e-07, + "acceleration": 1.980993857841895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.636383437173208e-06, + "observation_loss": 4.353242729848716e-06, + "chamfer": 3.6410087886906695e-06, + "track": 7.122337706277904e-07, + "acceleration": 2.8314065048107295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.5192387005954515e-06, + "observation_loss": 4.244740011927206e-06, + "chamfer": 3.5521420613804366e-06, + "track": 6.92598121077026e-07, + "acceleration": 2.7449880235508317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.599678049999056e-06, + "observation_loss": 4.18193667428568e-06, + "chamfer": 3.5057541936112102e-06, + "track": 6.761823101442133e-07, + "acceleration": 4.177414325567952e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.82711402582936e-06, + "observation_loss": 4.179274583293591e-06, + "chamfer": 3.4997920010937378e-06, + "track": 6.794824685130152e-07, + "acceleration": 6.478392151620938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.737569724966306e-06, + "observation_loss": 4.20157903135987e-06, + "chamfer": 3.501833361951867e-06, + "track": 6.997456694080029e-07, + "acceleration": 5.359908641366928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.720051492768107e-06, + "observation_loss": 4.381521193863591e-06, + "chamfer": 3.6322314826975344e-06, + "track": 7.492898248528945e-07, + "acceleration": 3.385303841696441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.093483196105808e-06, + "observation_loss": 4.781224106409354e-06, + "chamfer": 3.9344581637124065e-06, + "track": 8.467660563837853e-07, + "acceleration": 3.122589191661973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.257167686067987e-06, + "observation_loss": 5.049733772466425e-06, + "chamfer": 4.139751581533346e-06, + "track": 9.099822477764974e-07, + "acceleration": 2.0743372886045108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3589296840073075e-06, + "observation_loss": 5.045323632657528e-06, + "chamfer": 4.141619683650788e-06, + "track": 9.037040626935777e-07, + "acceleration": 3.1360610819319845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.1931133384641726e-06, + "observation_loss": 4.998754775442649e-06, + "chamfer": 4.115323918085778e-06, + "track": 8.834308573568705e-07, + "acceleration": 1.9435853459981445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.343030807125615e-06, + "observation_loss": 5.108242476126179e-06, + "chamfer": 4.210681709082564e-06, + "track": 8.975607670436148e-07, + "acceleration": 2.34788473107983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.653011157846777e-06, + "observation_loss": 5.30773468199186e-06, + "chamfer": 4.370523129182402e-06, + "track": 9.37211666496296e-07, + "acceleration": 3.4527644743320707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.0754091464332305e-06, + "observation_loss": 5.545881322177593e-06, + "chamfer": 4.56000543636037e-06, + "track": 9.858757721303846e-07, + "acceleration": 5.295276537253812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.551244041475002e-06, + "observation_loss": 5.773271368525457e-06, + "chamfer": 4.7298622121161316e-06, + "track": 1.0434089290356496e-06, + "acceleration": 7.779724455758696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.525733624584973e-06, + "observation_loss": 5.844412498845486e-06, + "chamfer": 4.782495125255082e-06, + "track": 1.0619174872772419e-06, + "acceleration": 6.813212962697435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.716982170473784e-06, + "observation_loss": 5.971135124127613e-06, + "chamfer": 4.8611645979690365e-06, + "track": 1.1099705261585768e-06, + "acceleration": 7.458471031895897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.700529411318712e-06, + "observation_loss": 6.2297858676174656e-06, + "chamfer": 5.04152876601438e-06, + "track": 1.1882573289767606e-06, + "acceleration": 4.7074371423150296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.808320449636085e-06, + "observation_loss": 6.342478172882693e-06, + "chamfer": 5.134510956850136e-06, + "track": 1.2079671023457195e-06, + "acceleration": 4.6584207780142606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.284053597482853e-06, + "observation_loss": 6.034190846548881e-06, + "chamfer": 4.912731583317509e-06, + "track": 1.121459490605048e-06, + "acceleration": 2.498627793556807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.779831553809345e-06, + "observation_loss": 5.612138465949101e-06, + "chamfer": 4.585428541759029e-06, + "track": 1.02671003787691e-06, + "acceleration": 1.6769324417964526e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.872253950656159e-06, + "observation_loss": 5.565622359426925e-06, + "chamfer": 4.547090611595195e-06, + "track": 1.0185317478317302e-06, + "acceleration": 3.0663153438581503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.111858965596184e-06, + "observation_loss": 5.841128313477384e-06, + "chamfer": 4.747184448206099e-06, + "track": 1.0939437515844475e-06, + "acceleration": 2.707307373839285e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.160784778330708e-06, + "observation_loss": 6.028521056578029e-06, + "chamfer": 4.874159913015319e-06, + "track": 1.1543613709363854e-06, + "acceleration": 1.3226369333096955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.255018433876103e-06, + "observation_loss": 6.212241714820266e-06, + "chamfer": 5.008397693018196e-06, + "track": 1.203844249175745e-06, + "acceleration": 4.277657339457619e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.376604687829968e-06, + "observation_loss": 6.293640581134241e-06, + "chamfer": 5.066073754278477e-06, + "track": 1.2275665994820883e-06, + "acceleration": 8.29641919608548e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.4985106291715056e-06, + "observation_loss": 6.346170721371891e-06, + "chamfer": 5.105331183585804e-06, + "track": 1.2408396514729247e-06, + "acceleration": 1.5233975148021273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.6858874561148696e-06, + "observation_loss": 6.485688572865911e-06, + "chamfer": 5.215214514464606e-06, + "track": 1.270474172088143e-06, + "acceleration": 2.001988548272493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.117459517758107e-06, + "observation_loss": 6.951639079488814e-06, + "chamfer": 5.5640180107729975e-06, + "track": 1.3876209550289786e-06, + "acceleration": 1.6582032458245521e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.722313057456631e-06, + "observation_loss": 7.57314001020859e-06, + "chamfer": 6.001136171107646e-06, + "track": 1.5720039527877816e-06, + "acceleration": 1.4917286250692996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.254868589574471e-06, + "observation_loss": 7.967057172209024e-06, + "chamfer": 6.284749360929709e-06, + "track": 1.6823074702188023e-06, + "acceleration": 2.878112184134807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.102113497443497e-06, + "observation_loss": 7.81870312493993e-06, + "chamfer": 6.187292456161231e-06, + "track": 1.6314104414050234e-06, + "acceleration": 2.834099177562166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.82742881710874e-06, + "observation_loss": 7.5659240792447235e-06, + "chamfer": 6.015328381181462e-06, + "track": 1.5505958117500995e-06, + "acceleration": 2.6150431153837417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.435152838297654e-06, + "observation_loss": 7.346357961068861e-06, + "chamfer": 5.851629339304054e-06, + "track": 1.4947285080779693e-06, + "acceleration": 8.879484170165597e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.209343493741471e-06, + "observation_loss": 7.158076186897233e-06, + "chamfer": 5.7103497965727e-06, + "track": 1.4477262766376953e-06, + "acceleration": 5.126722513182358e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.201620064734016e-06, + "observation_loss": 7.139030458347406e-06, + "chamfer": 5.692325430572964e-06, + "track": 1.4467052551481174e-06, + "acceleration": 6.258962059746409e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.257583547470858e-06, + "observation_loss": 7.177042789408006e-06, + "chamfer": 5.711356152460212e-06, + "track": 1.4656868643214693e-06, + "acceleration": 8.054091438225441e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.283866580110043e-06, + "observation_loss": 7.2400598583044484e-06, + "chamfer": 5.755177426181035e-06, + "track": 1.484882545810251e-06, + "acceleration": 4.380670048931279e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.510388059017714e-06, + "observation_loss": 7.302516678464599e-06, + "chamfer": 5.787201644125162e-06, + "track": 1.5153150343394373e-06, + "acceleration": 2.0787130949884158e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.864406143198721e-06, + "observation_loss": 7.368699698417913e-06, + "chamfer": 5.838649030920351e-06, + "track": 1.5300504401238868e-06, + "acceleration": 4.957065584676457e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.504797733621672e-06, + "observation_loss": 7.496020771213807e-06, + "chamfer": 5.920389412494842e-06, + "track": 1.5756311313452898e-06, + "acceleration": 1.0087774171552155e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.089329978451133e-06, + "observation_loss": 7.64311698731035e-06, + "chamfer": 6.03660100750858e-06, + "track": 1.6065163208622835e-06, + "acceleration": 1.446212536393432e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.644055014883634e-06, + "observation_loss": 7.792851647536736e-06, + "chamfer": 6.151848538138438e-06, + "track": 1.6410028820246225e-06, + "acceleration": 8.512033105034789e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.495184374623932e-06, + "observation_loss": 8.135413736454211e-06, + "chamfer": 6.401290193025488e-06, + "track": 1.734123429741885e-06, + "acceleration": 3.597702686874982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.896225153876003e-06, + "observation_loss": 8.61812168295728e-06, + "chamfer": 6.732936526532285e-06, + "track": 1.8851854974855087e-06, + "acceleration": 2.781037267141073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.302032594860066e-06, + "observation_loss": 9.18604746402707e-06, + "chamfer": 7.120019290596247e-06, + "track": 2.066027718683472e-06, + "acceleration": 1.1598486793218399e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.58268628892256e-06, + "observation_loss": 9.49523746385239e-06, + "chamfer": 7.3296628215757664e-06, + "track": 2.165575097023975e-06, + "acceleration": 8.744883928102354e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.978882189898286e-06, + "observation_loss": 9.705875527288299e-06, + "chamfer": 7.474088306480553e-06, + "track": 2.2317874481814215e-06, + "acceleration": 2.730070889356284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.007694208965404e-05, + "observation_loss": 9.906181730912067e-06, + "chamfer": 7.585676030430477e-06, + "track": 2.3205059278552653e-06, + "acceleration": 1.7076052927222918e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0125711014552508e-05, + "observation_loss": 1.0009849574998952e-05, + "chamfer": 7.643929166079033e-06, + "track": 2.36592086366727e-06, + "acceleration": 1.1586150350240132e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.023747699946398e-05, + "observation_loss": 9.911786946759094e-06, + "chamfer": 7.579656994494144e-06, + "track": 2.332130179638625e-06, + "acceleration": 3.2569019481343275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0464443221280817e-05, + "observation_loss": 9.654955647420138e-06, + "chamfer": 7.422670933010522e-06, + "track": 2.2322851691569667e-06, + "acceleration": 8.094877443909354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0052071047539357e-05, + "observation_loss": 9.562847480992787e-06, + "chamfer": 7.353519322350621e-06, + "track": 2.2093281586421654e-06, + "acceleration": 4.892234528597328e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.71597182797268e-06, + "observation_loss": 9.494182449998334e-06, + "chamfer": 7.305828148673754e-06, + "track": 2.188353846577229e-06, + "acceleration": 2.2178963376973115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.592693459126167e-06, + "observation_loss": 9.322244295617566e-06, + "chamfer": 7.180905868153786e-06, + "track": 2.1413386548374547e-06, + "acceleration": 2.7044904982176377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.731051250128075e-06, + "observation_loss": 9.249256436305586e-06, + "chamfer": 7.120570444385521e-06, + "track": 2.1286857645463897e-06, + "acceleration": 4.81794927509327e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2735594282275997e-05, + "observation_loss": 9.388612852490041e-06, + "chamfer": 7.19588206266053e-06, + "track": 2.1927310172031866e-06, + "acceleration": 3.3469818845333066e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.252107904292643e-05, + "observation_loss": 9.620405762689188e-06, + "chamfer": 7.348113740590634e-06, + "track": 2.2722922494722297e-06, + "acceleration": 2.900673507610918e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0372617907705717e-05, + "observation_loss": 9.553547897667158e-06, + "chamfer": 7.304679911612766e-06, + "track": 2.2488679860543925e-06, + "acceleration": 8.190702942556527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0479233424121048e-05, + "observation_loss": 9.649094863561913e-06, + "chamfer": 7.360353720287094e-06, + "track": 2.2887411432748195e-06, + "acceleration": 8.301381626552029e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0096267942572013e-05, + "observation_loss": 9.763414709595963e-06, + "chamfer": 7.430765435856301e-06, + "track": 2.332649273739662e-06, + "acceleration": 3.3285303402408317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0051474419014994e-05, + "observation_loss": 9.911717825161759e-06, + "chamfer": 7.507040663767839e-06, + "track": 2.4046773887675954e-06, + "acceleration": 1.397564517446881e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0235701665806118e-05, + "observation_loss": 1.0076391845359467e-05, + "chamfer": 7.588895641674753e-06, + "track": 2.4874962036847137e-06, + "acceleration": 1.593094225427194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0395113349659368e-05, + "observation_loss": 1.0312056474504061e-05, + "chamfer": 7.741921763226856e-06, + "track": 2.57013448390353e-06, + "acceleration": 8.305731569180352e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0726392247306649e-05, + "observation_loss": 1.0637914783728775e-05, + "chamfer": 7.965390068420675e-06, + "track": 2.6725249426817754e-06, + "acceleration": 8.847721488791649e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0977428246405907e-05, + "observation_loss": 1.0865172953344882e-05, + "chamfer": 8.11862810223829e-06, + "track": 2.7465443963592406e-06, + "acceleration": 1.1225517937418772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1065632861573249e-05, + "observation_loss": 1.095064180844929e-05, + "chamfer": 8.159774552041199e-06, + "track": 2.7908677111554425e-06, + "acceleration": 1.1499096785883012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1167613592988346e-05, + "observation_loss": 1.1023923434549943e-05, + "chamfer": 8.205873200495262e-06, + "track": 2.8180500066810055e-06, + "acceleration": 1.4368995948643715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1276963050477207e-05, + "observation_loss": 1.1121811439807061e-05, + "chamfer": 8.259927199105732e-06, + "track": 2.8618840133276535e-06, + "acceleration": 1.551515254050173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1219656698813196e-05, + "observation_loss": 1.1128595360787585e-05, + "chamfer": 8.25223651190754e-06, + "track": 2.876358848880045e-06, + "acceleration": 9.106160092642313e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1377381269994657e-05, + "observation_loss": 1.1128257028758526e-05, + "chamfer": 8.25169809104409e-06, + "track": 2.8765584829670843e-06, + "acceleration": 2.491238433321996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1329021617711987e-05, + "observation_loss": 1.1200728295079898e-05, + "chamfer": 8.28962856758153e-06, + "track": 2.911099954872043e-06, + "acceleration": 1.2829312368012324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1373261258995626e-05, + "observation_loss": 1.1278924830548931e-05, + "chamfer": 8.324202099174727e-06, + "track": 2.954722731374204e-06, + "acceleration": 9.433666292579801e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1431150596763473e-05, + "observation_loss": 1.1339697266521398e-05, + "chamfer": 8.361034815607127e-06, + "track": 2.978662450914271e-06, + "acceleration": 9.145295365442507e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1505569091241341e-05, + "observation_loss": 1.142304881796008e-05, + "chamfer": 8.406151209783275e-06, + "track": 3.016897608176805e-06, + "acceleration": 8.252057170921034e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.148445880971849e-05, + "observation_loss": 1.1377040209481493e-05, + "chamfer": 8.380787221540231e-06, + "track": 2.996253215314937e-06, + "acceleration": 1.0741840839045835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1310975423839409e-05, + "observation_loss": 1.1218133295187727e-05, + "chamfer": 8.280788279080298e-06, + "track": 2.937344561360078e-06, + "acceleration": 9.284179469659648e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.22959799270014e-06, + "chamfer_mean": 5.6468410131553055e-06, + "track_mean": 1.5409894119263374e-06, + "acceleration_mean": 1.0417675601429959e-06, + "observation_score": 7.1878304079101936e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.420173865999459 + }, + "score_arrays_file": "pass_scores/pass_end_0312.npz", + "score_arrays_sha256": "5766a4cc49378eeea148e52e6be48fc990140064c0f821188df7f08524ec9b59" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0313.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0313.json new file mode 100644 index 0000000000000000000000000000000000000000..8749bcde2fbdd31a49bc5d0913a09f560d418837 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0313.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30048, + "completed_passes": 313, + "snapshot": "pass_end_0313", + "candidate": true, + "snapshot_arrays_sha256": "24c508aca3854d746a7e5d71df1fd4a3b9412feef59b41597b1f0548a0271c08", + "score": 7.184815956406965e-06, + "score_result": { + "score": 7.184815956406965e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872605136872153e-06, + 3.157153741994989e-06, + 3.2686989470676053e-06, + 3.702384219650412e-06, + 4.220829396217596e-06, + 4.4352514123602305e-06, + 4.1917000999092124e-06, + 4.047373749926919e-06, + 3.989550350524951e-06, + 4.095586973562604e-06, + 4.475759396882495e-06, + 4.936813638778403e-06, + 5.245900410955073e-06, + 5.454518486658344e-06, + 5.451102879305836e-06, + 5.34045284439344e-06, + 4.981982783647254e-06, + 4.593588073475985e-06, + 4.411480404087342e-06, + 4.394898951431969e-06, + 4.3507952796062455e-06, + 4.240984708303586e-06, + 4.177409664407605e-06, + 4.175004050921416e-06, + 4.199375325697474e-06, + 4.380308837426128e-06, + 4.779947175848065e-06, + 5.04719218952232e-06, + 5.042526936449576e-06, + 4.995277777197771e-06, + 5.107236120238667e-06, + 5.310069354891311e-06, + 5.548647550313035e-06, + 5.776127181889024e-06, + 5.847155989613384e-06, + 5.972406142973341e-06, + 6.232295163499657e-06, + 6.347460839606356e-06, + 6.039539130142657e-06, + 5.613811026705662e-06, + 5.561499619943788e-06, + 5.8374930631543975e-06, + 6.024895810696762e-06, + 6.208559625520138e-06, + 6.290142664511222e-06, + 6.3432607930735685e-06, + 6.4831183408387005e-06, + 6.949386261112522e-06, + 7.570405159640359e-06, + 7.964266842463985e-06, + 7.81642575020669e-06, + 7.564263341919286e-06, + 7.345421181526035e-06, + 7.157745130825788e-06, + 7.138962700992124e-06, + 7.1770637077861466e-06, + 7.240128070407081e-06, + 7.303016900550574e-06, + 7.36920082999859e-06, + 7.496757916669594e-06, + 7.644084689673036e-06, + 7.793964869051706e-06, + 8.136999895214103e-06, + 8.62022443470778e-06, + 9.188778676616494e-06, + 9.49866353039397e-06, + 9.709796358947642e-06, + 9.910515473166015e-06, + 1.0014091458288021e-05, + 9.916102499119006e-06, + 9.65855815593386e-06, + 9.566526387061458e-06, + 9.497266546532046e-06, + 9.323870472144336e-06, + 9.249482900486328e-06, + 9.384039913129527e-06, + 9.614966074877884e-06, + 9.55104042077437e-06, + 9.644285455578938e-06, + 9.75610782916192e-06, + 9.902714737108909e-06, + 1.0066290087706875e-05, + 1.0299584573658649e-05, + 1.0624541573633906e-05, + 1.0851037586689927e-05, + 1.093633909476921e-05, + 1.1009157788066659e-05, + 1.1107131285825744e-05, + 1.1114406333945226e-05, + 1.1112716492789332e-05, + 1.118581621994963e-05, + 1.1263655324000865e-05, + 1.1324581464577932e-05, + 1.1407379133743234e-05, + 1.1361409633536823e-05, + 1.1202988389413804e-05 + ] + ], + "episode_mean_losses": [ + 7.184815956406965e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872605136872153e-06, + "observation_loss": 2.872605136872153e-06, + "chamfer": 2.4367345758946612e-06, + "track": 4.3587047571236326e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.14612986787688e-05, + "observation_loss": 3.157153741994989e-06, + "chamfer": 2.670141839189455e-06, + "track": 4.870119028055342e-07, + "acceleration": 3.830414425465278e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3200576833914965e-05, + "observation_loss": 3.2686989470676053e-06, + "chamfer": 2.7676132958731614e-06, + "track": 5.010857648812816e-07, + "acceleration": 1.993187834159471e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0140311133000068e-05, + "observation_loss": 3.702384219650412e-06, + "chamfer": 3.122436510238913e-06, + "track": 5.799476525680802e-07, + "acceleration": 6.437926913349656e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.928984137426596e-06, + "observation_loss": 4.220829396217596e-06, + "chamfer": 3.540402531143627e-06, + "track": 6.804269787608064e-07, + "acceleration": 1.7081547412090003e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.557538770517567e-06, + "observation_loss": 4.4352514123602305e-06, + "chamfer": 3.7113516100362176e-06, + "track": 7.238998023240129e-07, + "acceleration": 1.122287244470499e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.852370693697594e-06, + "observation_loss": 4.1917000999092124e-06, + "chamfer": 3.51290259459347e-06, + "track": 6.787975621591613e-07, + "acceleration": 6.606704801015439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.593861376633868e-06, + "observation_loss": 4.047373749926919e-06, + "chamfer": 3.397517275516293e-06, + "track": 6.498564175672072e-07, + "acceleration": 5.464876267069485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.455810085346457e-06, + "observation_loss": 3.989550350524951e-06, + "chamfer": 3.3537082799739437e-06, + "track": 6.358420705510071e-07, + "acceleration": 4.662597916649247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.399555109557696e-06, + "observation_loss": 4.095586973562604e-06, + "chamfer": 3.4407225939503405e-06, + "track": 6.548643227688444e-07, + "acceleration": 3.0396810757338244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.608070867107017e-06, + "observation_loss": 4.475759396882495e-06, + "chamfer": 3.7500428788916906e-06, + "track": 7.25716631677642e-07, + "acceleration": 1.3231128548341076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.026457529311301e-06, + "observation_loss": 4.936813638778403e-06, + "chamfer": 4.120112407690613e-06, + "track": 8.167011742443719e-07, + "acceleration": 8.964387632204307e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.335324203770142e-06, + "observation_loss": 5.245900410955073e-06, + "chamfer": 4.374196578282863e-06, + "track": 8.717038326722104e-07, + "acceleration": 8.942357965224801e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.557734311878448e-06, + "observation_loss": 5.454518486658344e-06, + "chamfer": 4.551733127300395e-06, + "track": 9.027854730447871e-07, + "acceleration": 1.0321596732865146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.510334176506149e-06, + "observation_loss": 5.451102879305836e-06, + "chamfer": 4.552689006231958e-06, + "track": 8.9841375938704e-07, + "acceleration": 5.923146062514206e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.461677119455999e-06, + "observation_loss": 5.34045284439344e-06, + "chamfer": 4.462365723156836e-06, + "track": 8.780871212366037e-07, + "acceleration": 1.212242182191403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.186758698982885e-06, + "observation_loss": 4.981982783647254e-06, + "chamfer": 4.1684688767418265e-06, + "track": 8.135137932185899e-07, + "acceleration": 2.0477575901622913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.899128271063091e-06, + "observation_loss": 4.593588073475985e-06, + "chamfer": 3.847685547953006e-06, + "track": 7.459024118361413e-07, + "acceleration": 3.055401123219781e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.577926574711455e-06, + "observation_loss": 4.411480404087342e-06, + "chamfer": 3.6946296404494205e-06, + "track": 7.168507636379218e-07, + "acceleration": 1.6644629852180515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.592032382788602e-06, + "observation_loss": 4.394898951431969e-06, + "chamfer": 3.6769165490113664e-06, + "track": 7.179825729508593e-07, + "acceleration": 1.9713361609774438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.634437573258765e-06, + "observation_loss": 4.3507952796062455e-06, + "chamfer": 3.6389978959050495e-06, + "track": 7.117974973880337e-07, + "acceleration": 2.8364206627884414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.515100499702385e-06, + "observation_loss": 4.240984708303586e-06, + "chamfer": 3.5490506888891105e-06, + "track": 6.919342467881506e-07, + "acceleration": 2.7411579139879905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.606720267474884e-06, + "observation_loss": 4.177409664407605e-06, + "chamfer": 3.5020084396819584e-06, + "track": 6.754012247256469e-07, + "acceleration": 4.293106599106977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.851220637647202e-06, + "observation_loss": 4.175004050921416e-06, + "chamfer": 3.4962492918566568e-06, + "track": 6.787546453779214e-07, + "acceleration": 6.76216700412624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.750936568598263e-06, + "observation_loss": 4.199375325697474e-06, + "chamfer": 3.4999616218556184e-06, + "track": 6.99413590155018e-07, + "acceleration": 5.515611292139511e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.724138307210524e-06, + "observation_loss": 4.380308837426128e-06, + "chamfer": 3.6312476368038915e-06, + "track": 7.490610869353986e-07, + "acceleration": 3.438292992541392e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.092369065096136e-06, + "observation_loss": 4.779947175848065e-06, + "chamfer": 3.9334531720669474e-06, + "track": 8.464938900942798e-07, + "acceleration": 3.124216902961052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.253750714473426e-06, + "observation_loss": 5.04719218952232e-06, + "chamfer": 4.137710675422568e-06, + "track": 9.094816277865903e-07, + "acceleration": 2.0655863863794366e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.353386768547352e-06, + "observation_loss": 5.042526936449576e-06, + "chamfer": 4.139273642067565e-06, + "track": 9.03253521755687e-07, + "acceleration": 3.108598036760668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.19172181157046e-06, + "observation_loss": 4.995277777197771e-06, + "chamfer": 4.112473561690422e-06, + "track": 8.828043291941867e-07, + "acceleration": 1.964441196378175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.340949428500608e-06, + "observation_loss": 5.107236120238667e-06, + "chamfer": 4.209878170513548e-06, + "track": 8.973580634119571e-07, + "acceleration": 2.3371336510535912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6459466577507555e-06, + "observation_loss": 5.310069354891311e-06, + "chamfer": 4.3723880480683874e-06, + "track": 9.376813068229239e-07, + "acceleration": 3.358772460160253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.047937404218828e-06, + "observation_loss": 5.548647550313035e-06, + "chamfer": 4.562301455734996e-06, + "track": 9.86346094578039e-07, + "acceleration": 4.992899107492121e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.595172635570634e-06, + "observation_loss": 5.776127181889024e-06, + "chamfer": 4.732500656245975e-06, + "track": 1.0436265256430488e-06, + "acceleration": 8.190455105250294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.525389380840352e-06, + "observation_loss": 5.847155989613384e-06, + "chamfer": 4.785054443345871e-06, + "track": 1.0621015462675132e-06, + "acceleration": 6.782333343835489e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.682785624434473e-06, + "observation_loss": 5.972406142973341e-06, + "chamfer": 4.862507012148853e-06, + "track": 1.10989901713765e-06, + "acceleration": 7.103795383045508e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.74266539135715e-06, + "observation_loss": 6.232295163499657e-06, + "chamfer": 5.043461897002999e-06, + "track": 1.1888334938703338e-06, + "acceleration": 5.103702847009117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.814833795942832e-06, + "observation_loss": 6.347460839606356e-06, + "chamfer": 5.138283086125739e-06, + "track": 1.209177753480617e-06, + "acceleration": 4.6737298475818534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.313189260254148e-06, + "observation_loss": 6.039539130142657e-06, + "chamfer": 4.916772923024837e-06, + "track": 1.1227663208046579e-06, + "acceleration": 2.7365027222003846e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.78688786845305e-06, + "observation_loss": 5.613811026705662e-06, + "chamfer": 4.586697741615353e-06, + "track": 1.0271133987771464e-06, + "acceleration": 1.7307682753653353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.869932920177234e-06, + "observation_loss": 5.561499619943788e-06, + "chamfer": 4.543821432889672e-06, + "track": 1.0176780733672786e-06, + "acceleration": 3.084334991854121e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.108514298830414e-06, + "observation_loss": 5.8374930631543975e-06, + "chamfer": 4.744277248391882e-06, + "track": 1.0932159284493537e-06, + "acceleration": 2.7102123567601666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.154672973934794e-06, + "observation_loss": 6.024895810696762e-06, + "chamfer": 4.871266810368979e-06, + "track": 1.153628886640945e-06, + "acceleration": 1.2977706376204878e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.253043920878554e-06, + "observation_loss": 6.208559625520138e-06, + "chamfer": 5.005494131182786e-06, + "track": 1.2030656080241897e-06, + "acceleration": 4.4484107064590717e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.3722995946591254e-06, + "observation_loss": 6.290142664511222e-06, + "chamfer": 5.063318894826807e-06, + "track": 1.2268239970580908e-06, + "acceleration": 8.215708646730491e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.494981334981276e-06, + "observation_loss": 6.3432607930735685e-06, + "chamfer": 5.1030301619903184e-06, + "track": 1.2402304037095746e-06, + "acceleration": 1.5172072664881853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.682854291284457e-06, + "observation_loss": 6.4831183408387005e-06, + "chamfer": 5.213182248553494e-06, + "track": 1.269935864911531e-06, + "acceleration": 1.9973580833720916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.115041171346093e-06, + "observation_loss": 6.949386261112522e-06, + "chamfer": 5.562344540521735e-06, + "track": 1.3870414932171116e-06, + "acceleration": 1.656547681250231e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.719669156358577e-06, + "observation_loss": 7.570405159640359e-06, + "chamfer": 5.999124368827324e-06, + "track": 1.5712806771261967e-06, + "acceleration": 1.4926379776625254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.252506631833967e-06, + "observation_loss": 7.964266842463985e-06, + "chamfer": 6.28280577075202e-06, + "track": 1.681460616964614e-06, + "acceleration": 2.88239675683144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.10002165962942e-06, + "observation_loss": 7.81642575020669e-06, + "chamfer": 6.18574267718941e-06, + "track": 1.6306831867041183e-06, + "acceleration": 2.835959378444386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.826271030353382e-06, + "observation_loss": 7.564263341919286e-06, + "chamfer": 6.01418332735193e-06, + "track": 1.5500801282541943e-06, + "acceleration": 2.620080010728998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4345739449199755e-06, + "observation_loss": 7.345421181526035e-06, + "chamfer": 5.850948582519777e-06, + "track": 1.4944723716325825e-06, + "acceleration": 8.91527633939404e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.2083935265254695e-06, + "observation_loss": 7.157745130825788e-06, + "chamfer": 5.710136520065134e-06, + "track": 1.4476084970738157e-06, + "acceleration": 5.064848807023736e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.200920208561001e-06, + "observation_loss": 7.138962700992124e-06, + "chamfer": 5.6923327065305784e-06, + "track": 1.4466301081483834e-06, + "acceleration": 6.19574223037489e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2574785008328035e-06, + "observation_loss": 7.1770637077861466e-06, + "chamfer": 5.7113975344691426e-06, + "track": 1.465666173317004e-06, + "acceleration": 8.041472199238342e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.284032108145766e-06, + "observation_loss": 7.240128070407081e-06, + "chamfer": 5.755238362326054e-06, + "track": 1.484889935454703e-06, + "acceleration": 4.390401642240249e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.511377589253243e-06, + "observation_loss": 7.303016900550574e-06, + "chamfer": 5.787589543615468e-06, + "track": 1.5154272432482685e-06, + "acceleration": 2.0836084502207086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.866222404118162e-06, + "observation_loss": 7.36920082999859e-06, + "chamfer": 5.839005098096095e-06, + "track": 1.5301958455893327e-06, + "acceleration": 4.970219151800848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.507162419846281e-06, + "observation_loss": 7.496757916669594e-06, + "chamfer": 5.920961484662257e-06, + "track": 1.5757963183204993e-06, + "acceleration": 1.0104045031766873e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.09296068130061e-06, + "observation_loss": 7.644084689673036e-06, + "chamfer": 6.037294951966032e-06, + "track": 1.6067901924543548e-06, + "acceleration": 1.4488764463749249e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.647166396258399e-06, + "observation_loss": 7.793964869051706e-06, + "chamfer": 6.152641617518384e-06, + "track": 1.641323251533322e-06, + "acceleration": 8.532011293027608e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.497933777107392e-06, + "observation_loss": 8.136999895214103e-06, + "chamfer": 6.402372491720598e-06, + "track": 1.734626948746154e-06, + "acceleration": 3.6093359767619404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.899566637410317e-06, + "observation_loss": 8.62022443470778e-06, + "chamfer": 6.734310773026664e-06, + "track": 1.8859136616811156e-06, + "acceleration": 2.7934237323279376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.30522037378978e-06, + "observation_loss": 9.188778676616494e-06, + "chamfer": 7.121816906874301e-06, + "track": 2.0669615423685173e-06, + "acceleration": 1.1644188901982488e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.586301530362107e-06, + "observation_loss": 9.49866353039397e-06, + "chamfer": 7.3320375122420955e-06, + "track": 2.166626245525549e-06, + "acceleration": 8.76382841852319e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.983472409658134e-06, + "observation_loss": 9.709796358947642e-06, + "chamfer": 7.476931841665646e-06, + "track": 2.232864972029347e-06, + "acceleration": 2.736765054578427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0081856089527719e-05, + "observation_loss": 9.910515473166015e-06, + "chamfer": 7.588865173602244e-06, + "track": 2.3216500721900957e-06, + "acceleration": 1.713409716330716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0129670044989325e-05, + "observation_loss": 1.0014091458288021e-05, + "chamfer": 7.647029633517377e-06, + "track": 2.367062279517995e-06, + "acceleration": 1.155781887973717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0242107236990705e-05, + "observation_loss": 9.916102499119006e-06, + "chamfer": 7.582836133224191e-06, + "track": 2.333265911147464e-06, + "acceleration": 3.2600436838947644e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0468531399965286e-05, + "observation_loss": 9.65855815593386e-06, + "chamfer": 7.425256171700312e-06, + "track": 2.2333022116072243e-06, + "acceleration": 8.099731871880067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0056342944153585e-05, + "observation_loss": 9.566526387061458e-06, + "chamfer": 7.356262358371168e-06, + "track": 2.210264256063965e-06, + "acceleration": 4.898165570921265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.719882655190304e-06, + "observation_loss": 9.497266546532046e-06, + "chamfer": 7.308150998142082e-06, + "track": 2.1891153210162884e-06, + "acceleration": 2.2261629339936917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.594060429662932e-06, + "observation_loss": 9.323870472144336e-06, + "chamfer": 7.182148237916408e-06, + "track": 2.141722006854252e-06, + "acceleration": 2.701895596146642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.721227797854226e-06, + "observation_loss": 9.249482900486328e-06, + "chamfer": 7.120999271137407e-06, + "track": 2.128483856722596e-06, + "acceleration": 4.7174526685012097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2735366908600554e-05, + "observation_loss": 9.384039913129527e-06, + "chamfer": 7.192476005002391e-06, + "track": 2.191563680753461e-06, + "acceleration": 3.351326540723676e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2506749953899998e-05, + "observation_loss": 9.614966074877884e-06, + "chamfer": 7.344241112150485e-06, + "track": 2.270724735353724e-06, + "acceleration": 2.8917836516484385e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0371415555709973e-05, + "observation_loss": 9.55104042077437e-06, + "chamfer": 7.303116944967769e-06, + "track": 2.2479239305539522e-06, + "acceleration": 8.20375362309278e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0475246199348476e-05, + "observation_loss": 9.644285455578938e-06, + "chamfer": 7.356903552135918e-06, + "track": 2.28738190344302e-06, + "acceleration": 8.309609711432131e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.008856179396389e-05, + "observation_loss": 9.75610782916192e-06, + "chamfer": 7.425879175571026e-06, + "track": 2.330228426217218e-06, + "acceleration": 3.32453709006586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0048699550679885e-05, + "observation_loss": 9.902714737108909e-06, + "chamfer": 7.501495474571129e-06, + "track": 2.4012192625377793e-06, + "acceleration": 1.4598450093217252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0232045497104991e-05, + "observation_loss": 1.0066290087706875e-05, + "chamfer": 7.582709713460645e-06, + "track": 2.4835803742462303e-06, + "acceleration": 1.6575513939187658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0385265341028571e-05, + "observation_loss": 1.0299584573658649e-05, + "chamfer": 7.73418287280947e-06, + "track": 2.565401700849179e-06, + "acceleration": 8.568093079475148e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0713264600781258e-05, + "observation_loss": 1.0624541573633906e-05, + "chamfer": 7.957170055306051e-06, + "track": 2.667371290954179e-06, + "acceleration": 8.87231266233357e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.096576943382388e-05, + "observation_loss": 1.0851037586689927e-05, + "chamfer": 8.109954251267482e-06, + "track": 2.7410835627961205e-06, + "acceleration": 1.1473172634168805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1053760317736305e-05, + "observation_loss": 1.093633909476921e-05, + "chamfer": 8.151097063091584e-06, + "track": 2.785242031677626e-06, + "acceleration": 1.1742081795773629e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1154758794873487e-05, + "observation_loss": 1.1009157788066659e-05, + "chamfer": 8.19669003249146e-06, + "track": 2.8124675282015232e-06, + "acceleration": 1.456013904999054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1263952728768345e-05, + "observation_loss": 1.1107131285825744e-05, + "chamfer": 8.250908649642952e-06, + "track": 2.856222863556468e-06, + "acceleration": 1.5682142873174598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1207444913452491e-05, + "observation_loss": 1.1114406333945226e-05, + "chamfer": 8.243806405516807e-06, + "track": 2.8706001558020944e-06, + "acceleration": 9.303829529017094e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1364587408024818e-05, + "observation_loss": 1.1112716492789332e-05, + "chamfer": 8.24206381366821e-06, + "track": 2.8706524517474463e-06, + "acceleration": 2.518710289223236e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.131532098952448e-05, + "observation_loss": 1.118581621994963e-05, + "chamfer": 8.280777365143877e-06, + "track": 2.905038627432077e-06, + "acceleration": 1.2950445693604706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1358134543115739e-05, + "observation_loss": 1.1263655324000865e-05, + "chamfer": 8.31520628707949e-06, + "track": 2.948448809547699e-06, + "acceleration": 9.447884963265096e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1415628250688314e-05, + "observation_loss": 1.1324581464577932e-05, + "chamfer": 8.35225910122972e-06, + "track": 2.9723221359745366e-06, + "acceleration": 9.10469921677759e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1489501048345119e-05, + "observation_loss": 1.1407379133743234e-05, + "chamfer": 8.396908924623858e-06, + "track": 3.0104706638667267e-06, + "acceleration": 8.212177249333763e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1468609045550693e-05, + "observation_loss": 1.1361409633536823e-05, + "chamfer": 8.371540388907306e-06, + "track": 2.9898687898821663e-06, + "acceleration": 1.0719914200763014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1295698641333729e-05, + "observation_loss": 1.1202988389413804e-05, + "chamfer": 8.271867955045309e-06, + "track": 2.9311206617421703e-06, + "acceleration": 9.271014533851485e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.227541118325613e-06, + "chamfer_mean": 5.644885980871095e-06, + "track_mean": 1.5399299722792155e-06, + "acceleration_mean": 1.0427251440440581e-06, + "observation_score": 7.184815956406965e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4282064189992525 + }, + "score_arrays_file": "pass_scores/pass_end_0313.npz", + "score_arrays_sha256": "3864963e041f315dfa6e03f64cc92048f98acace11da1135cab0a8f9ea0bae96" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0314.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0314.json new file mode 100644 index 0000000000000000000000000000000000000000..87d67c6d200df94758fdfb9175ff75b80eb8714d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0314.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30144, + "completed_passes": 314, + "snapshot": "pass_end_0314", + "candidate": true, + "snapshot_arrays_sha256": "2423f6956aeb6708adf11ab58f435089931c946e7b101381efa2b2f5b02e0d28", + "score": 7.181165242305572e-06, + "score_result": { + "score": 7.181165242305572e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8725505671900464e-06, + 3.157000264764065e-06, + 3.267201918788487e-06, + 3.7009403968113475e-06, + 4.219145466777263e-06, + 4.4336770770314615e-06, + 4.1897610572050326e-06, + 4.044955858262256e-06, + 3.987211130151991e-06, + 4.092938979738392e-06, + 4.4727771637553815e-06, + 4.933382570015965e-06, + 5.242514816927724e-06, + 5.4511760936293285e-06, + 5.447710918815574e-06, + 5.336990852811141e-06, + 4.978204742656089e-06, + 4.5901488192612305e-06, + 4.408367203723174e-06, + 4.392072241898859e-06, + 4.347328740550438e-06, + 4.236181666783523e-06, + 4.171426098764641e-06, + 4.169551175436936e-06, + 4.19589514422114e-06, + 4.378887751954608e-06, + 4.779421033163089e-06, + 5.045035322837066e-06, + 5.040315045334864e-06, + 4.992722097085789e-06, + 5.107370270707179e-06, + 5.314661848387914e-06, + 5.5539248933200724e-06, + 5.782464995718328e-06, + 5.855412382516079e-06, + 5.978495664749062e-06, + 6.2349331528821494e-06, + 6.352534910547547e-06, + 6.044670953997411e-06, + 5.615149348159321e-06, + 5.5570367294421885e-06, + 5.832264832861256e-06, + 6.019051397743169e-06, + 6.202827080414863e-06, + 6.284380106080789e-06, + 6.337438207992818e-06, + 6.478112482000142e-06, + 6.94382924848469e-06, + 7.56349572839099e-06, + 7.956501576700248e-06, + 7.808779628248885e-06, + 7.557672233815538e-06, + 7.339780495385639e-06, + 7.152965736167971e-06, + 7.13462577550672e-06, + 7.172949153755326e-06, + 7.2359498517471366e-06, + 7.2989214459084906e-06, + 7.36529182177037e-06, + 7.4925869739672635e-06, + 7.63995740271639e-06, + 7.789535629854072e-06, + 8.132312359521165e-06, + 8.615365914010908e-06, + 9.18405203265138e-06, + 9.494509868090972e-06, + 9.705601769383065e-06, + 9.906745617627166e-06, + 1.0010731784859672e-05, + 9.912706445902586e-06, + 9.655061148805544e-06, + 9.56281292019412e-06, + 9.493080142419785e-06, + 9.31906106416136e-06, + 9.244397006114013e-06, + 9.377245987707283e-06, + 9.610532288206741e-06, + 9.550543836667202e-06, + 9.642128134146333e-06, + 9.752857295097783e-06, + 9.898311873257626e-06, + 1.00607112472062e-05, + 1.029267514240928e-05, + 1.0617070074658841e-05, + 1.0842944902833551e-05, + 1.092790535039967e-05, + 1.1000214726664126e-05, + 1.1098087270511314e-05, + 1.1105863450211473e-05, + 1.1103525139333215e-05, + 1.1177411579410546e-05, + 1.1255285244260449e-05, + 1.1316549716866575e-05, + 1.1398647075111512e-05, + 1.1352914953022264e-05, + 1.1194935723324306e-05 + ] + ], + "episode_mean_losses": [ + 7.181165242305572e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8725505671900464e-06, + "observation_loss": 2.8725505671900464e-06, + "chamfer": 2.4366802335862303e-06, + "track": 4.358703051821067e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146081118960865e-05, + "observation_loss": 3.157000264764065e-06, + "chamfer": 2.6700076887209434e-06, + "track": 4.869924623562838e-07, + "acceleration": 3.830380956060253e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3191936634248123e-05, + "observation_loss": 3.267201918788487e-06, + "chamfer": 2.7663702439895133e-06, + "track": 5.00831617955555e-07, + "acceleration": 1.9924735170206986e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0136940545635298e-05, + "observation_loss": 3.7009403968113475e-06, + "chamfer": 3.121238705716678e-06, + "track": 5.797016910946695e-07, + "acceleration": 6.4360001488239504e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.915763722441625e-06, + "observation_loss": 4.219145466777263e-06, + "chamfer": 3.539020553944283e-06, + "track": 6.801247991461423e-07, + "acceleration": 1.6966180282906862e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.552954917220632e-06, + "observation_loss": 4.4336770770314615e-06, + "chamfer": 3.710051942107384e-06, + "track": 7.236251349240774e-07, + "acceleration": 1.1192779538760078e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.848917342314962e-06, + "observation_loss": 4.1897610572050326e-06, + "chamfer": 3.511289833113551e-06, + "track": 6.78470996717806e-07, + "acceleration": 6.591562282665109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.593194262270117e-06, + "observation_loss": 4.044955858262256e-06, + "chamfer": 3.3954997888940852e-06, + "track": 6.494558419944951e-07, + "acceleration": 5.482384040078614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.454475856618956e-06, + "observation_loss": 3.987211130151991e-06, + "chamfer": 3.3517633255542023e-06, + "track": 6.354479182846262e-07, + "acceleration": 4.6726464120183664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.397073553263908e-06, + "observation_loss": 4.092938979738392e-06, + "chamfer": 3.4385275284876116e-06, + "track": 6.544116786244558e-07, + "acceleration": 3.0413471563406347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.605409685609629e-06, + "observation_loss": 4.4727771637553815e-06, + "chamfer": 3.7475958833965706e-06, + "track": 7.251811098285543e-07, + "acceleration": 1.326324365891196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.0230396482220385e-06, + "observation_loss": 4.933382570015965e-06, + "chamfer": 4.1173293539031874e-06, + "track": 8.160531592693587e-07, + "acceleration": 8.965723452547536e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.331931333785178e-06, + "observation_loss": 5.242514816927724e-06, + "chamfer": 4.37146081821993e-06, + "track": 8.710538850209559e-07, + "acceleration": 8.941631080006118e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.554300514631905e-06, + "observation_loss": 5.4511760936293285e-06, + "chamfer": 4.54903738500434e-06, + "track": 9.021385380947322e-07, + "acceleration": 1.0312429310488369e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.506951310962904e-06, + "observation_loss": 5.447710918815574e-06, + "chamfer": 4.5499396037484985e-06, + "track": 8.977711445368186e-07, + "acceleration": 5.924049872874093e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.458146915771067e-06, + "observation_loss": 5.336990852811141e-06, + "chamfer": 4.459555839275708e-06, + "track": 8.774351840656891e-07, + "acceleration": 1.211560629599262e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.182673703529872e-06, + "observation_loss": 4.978204742656089e-06, + "chamfer": 4.165381596976658e-06, + "track": 8.128232593662688e-07, + "acceleration": 2.0446898929549207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.896172413282329e-06, + "observation_loss": 4.5901488192612305e-06, + "chamfer": 3.844877483061282e-06, + "track": 7.452712225131108e-07, + "acceleration": 3.06023679286227e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.574255399347749e-06, + "observation_loss": 4.408367203723174e-06, + "chamfer": 3.692053724080324e-06, + "track": 7.16313650173106e-07, + "acceleration": 1.65887996672609e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.5880660763941705e-06, + "observation_loss": 4.392072241898859e-06, + "chamfer": 3.674578010759433e-06, + "track": 7.174942311394261e-07, + "acceleration": 1.9599380607360217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.631232968677068e-06, + "observation_loss": 4.347328740550438e-06, + "chamfer": 3.6361436741572106e-06, + "track": 7.111852369234839e-07, + "acceleration": 2.839041712832113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.510674443736207e-06, + "observation_loss": 4.236181666783523e-06, + "chamfer": 3.545098934409907e-06, + "track": 6.910825049999403e-07, + "acceleration": 2.7449289063952165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.610770247381879e-06, + "observation_loss": 4.171426098764641e-06, + "chamfer": 3.4970523756783223e-06, + "track": 6.743737799297378e-07, + "acceleration": 4.3934429072578496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.86886119688279e-06, + "observation_loss": 4.169551175436936e-06, + "chamfer": 3.4917215998575557e-06, + "track": 6.77829405049124e-07, + "acceleration": 6.993100782892725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.7608314162062015e-06, + "observation_loss": 4.19589514422114e-06, + "chamfer": 3.497028728816076e-06, + "track": 6.98866358561645e-07, + "acceleration": 5.649362151416426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.727194209408481e-06, + "observation_loss": 4.378887751954608e-06, + "chamfer": 3.6300928059063153e-06, + "track": 7.487950028917112e-07, + "acceleration": 3.483063437670353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0910980462504085e-06, + "observation_loss": 4.779421033163089e-06, + "chamfer": 3.933046627935255e-06, + "track": 8.463744620712532e-07, + "acceleration": 3.1167687097877206e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.250016329227947e-06, + "observation_loss": 5.045035322837066e-06, + "chamfer": 4.13599855164648e-06, + "track": 9.09036600660329e-07, + "acceleration": 2.0498121955370152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.347278602130245e-06, + "observation_loss": 5.040315045334864e-06, + "chamfer": 4.137421001360053e-06, + "track": 9.028938734445546e-07, + "acceleration": 3.0696378416905645e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.193083325139014e-06, + "observation_loss": 4.992722097085789e-06, + "chamfer": 4.110378540644888e-06, + "track": 8.823434427540633e-07, + "acceleration": 2.0036129910749878e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3467138059204444e-06, + "observation_loss": 5.107370270707179e-06, + "chamfer": 4.210029146634042e-06, + "track": 8.97341351446812e-07, + "acceleration": 2.3934333626129956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.659594989992911e-06, + "observation_loss": 5.314661848387914e-06, + "chamfer": 4.376048309495673e-06, + "track": 9.386136525790789e-07, + "acceleration": 3.449331984484161e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.076452336856164e-06, + "observation_loss": 5.5539248933200724e-06, + "chamfer": 4.566587904264452e-06, + "track": 9.87336761681945e-07, + "acceleration": 5.22527670909767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.777001999580534e-06, + "observation_loss": 5.782464995718328e-06, + "chamfer": 4.737810286314925e-06, + "track": 1.0446545957165654e-06, + "acceleration": 9.945368901753682e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.621509328397224e-06, + "observation_loss": 5.855412382516079e-06, + "chamfer": 4.791710125573445e-06, + "track": 1.063702484316309e-06, + "acceleration": 7.660971164114017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.609715910599334e-06, + "observation_loss": 5.978495664749062e-06, + "chamfer": 4.8673969104129355e-06, + "track": 1.1110988680229639e-06, + "acceleration": 6.312201890068536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.804714303143555e-06, + "observation_loss": 6.2349331528821494e-06, + "chamfer": 5.045344096288318e-06, + "track": 1.1895890565938316e-06, + "acceleration": 5.697812071048247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.814655534981284e-06, + "observation_loss": 6.352534910547547e-06, + "chamfer": 5.142081136000343e-06, + "track": 1.210453888234042e-06, + "acceleration": 4.6212082338570326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.349638624669751e-06, + "observation_loss": 6.044670953997411e-06, + "chamfer": 4.920630999549758e-06, + "track": 1.1240397270739777e-06, + "acceleration": 3.0496752856379317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.794105163658969e-06, + "observation_loss": 5.615149348159321e-06, + "chamfer": 4.587674084177706e-06, + "track": 1.0274751502947765e-06, + "acceleration": 1.7895588655392203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.864435934199719e-06, + "observation_loss": 5.5570367294421885e-06, + "chamfer": 4.54022938356502e-06, + "track": 1.0168074595640064e-06, + "acceleration": 3.073993468660774e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.100266546127386e-06, + "observation_loss": 5.832264832861256e-06, + "chamfer": 4.740129952551797e-06, + "track": 1.092134766622621e-06, + "acceleration": 2.680015995792928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.147505700937472e-06, + "observation_loss": 6.019051397743169e-06, + "chamfer": 4.866651124757482e-06, + "track": 1.152400500359363e-06, + "acceleration": 1.284543316160125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.248753834370291e-06, + "observation_loss": 6.202827080414863e-06, + "chamfer": 5.001003501092782e-06, + "track": 1.2018234656352433e-06, + "acceleration": 4.592692093297046e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.36626418781816e-06, + "observation_loss": 6.284380106080789e-06, + "chamfer": 5.0587991609063465e-06, + "track": 1.2255810588612803e-06, + "acceleration": 8.188394673425137e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.487864084192552e-06, + "observation_loss": 6.337438207992818e-06, + "chamfer": 5.098468591313576e-06, + "track": 1.2389697303660796e-06, + "acceleration": 1.504261035734089e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.678832050965866e-06, + "observation_loss": 6.478112482000142e-06, + "chamfer": 5.2093073463765904e-06, + "track": 1.268805135623552e-06, + "acceleration": 2.0071966844170674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1098188527685124e-06, + "observation_loss": 6.94382924848469e-06, + "chamfer": 5.558168595598545e-06, + "track": 1.3856604255124694e-06, + "acceleration": 1.6598954744040384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.712635124335065e-06, + "observation_loss": 7.56349572839099e-06, + "chamfer": 5.994010734866606e-06, + "track": 1.5694851072112215e-06, + "acceleration": 1.4913950963091338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.245857316069305e-06, + "observation_loss": 7.956501576700248e-06, + "chamfer": 6.2772733144811355e-06, + "track": 1.6792284895927878e-06, + "acceleration": 2.8935528462170623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.09425091574667e-06, + "observation_loss": 7.808779628248885e-06, + "chamfer": 6.180238870001631e-06, + "track": 1.6285412129946053e-06, + "acceleration": 2.854716285582981e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.819728125468828e-06, + "observation_loss": 7.557672233815538e-06, + "chamfer": 6.009292974340497e-06, + "track": 1.5483792594750412e-06, + "acceleration": 2.6205609060525603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.428483058902202e-06, + "observation_loss": 7.339780495385639e-06, + "chamfer": 5.846650765306549e-06, + "track": 1.4931299574527657e-06, + "acceleration": 8.87025635165628e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.203420864243526e-06, + "observation_loss": 7.152965736167971e-06, + "chamfer": 5.706500360247446e-06, + "track": 1.4464653759205248e-06, + "acceleration": 5.045515294455072e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.195515536295716e-06, + "observation_loss": 7.13462577550672e-06, + "chamfer": 5.689007593900897e-06, + "track": 1.4456181816058233e-06, + "acceleration": 6.088995974096179e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.253051535371924e-06, + "observation_loss": 7.172949153755326e-06, + "chamfer": 5.708198386855656e-06, + "track": 1.4647507668996695e-06, + "acceleration": 8.010216134834991e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.280125828401651e-06, + "observation_loss": 7.2359498517471366e-06, + "chamfer": 5.751969638367882e-06, + "track": 1.48398044075293e-06, + "acceleration": 4.4175816782399124e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.507023383368505e-06, + "observation_loss": 7.2989214459084906e-06, + "chamfer": 5.78440995013807e-06, + "track": 1.5145113820835832e-06, + "acceleration": 2.081018521948863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.863891369197518e-06, + "observation_loss": 7.36529182177037e-06, + "chamfer": 5.8359992181067355e-06, + "track": 1.5292927173504722e-06, + "acceleration": 4.986000021744985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.506121957907453e-06, + "observation_loss": 7.4925869739672635e-06, + "chamfer": 5.917758699069964e-06, + "track": 1.5748282748972997e-06, + "acceleration": 1.0135354386875406e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.093588232644834e-06, + "observation_loss": 7.63995740271639e-06, + "chamfer": 6.034157195244916e-06, + "track": 1.6058005485319882e-06, + "acceleration": 1.4536306025547674e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.646395144751295e-06, + "observation_loss": 7.789535629854072e-06, + "chamfer": 6.149289220047649e-06, + "track": 1.6402462961195852e-06, + "acceleration": 8.568597991143179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.494909707223997e-06, + "observation_loss": 8.132312359521165e-06, + "chamfer": 6.398863206413807e-06, + "track": 1.7334489257336827e-06, + "acceleration": 3.625977740284725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.896289727999829e-06, + "observation_loss": 8.615365914010908e-06, + "chamfer": 6.730747827532468e-06, + "track": 1.8846184275389533e-06, + "acceleration": 2.809237003020826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.301707905251533e-06, + "observation_loss": 9.18405203265138e-06, + "chamfer": 7.118417215679074e-06, + "track": 2.065635271719657e-06, + "acceleration": 1.176562562932304e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.583029168425128e-06, + "observation_loss": 9.494509868090972e-06, + "chamfer": 7.329175787162967e-06, + "track": 2.1653336261806544e-06, + "acceleration": 8.851926480701877e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.979597962228581e-06, + "observation_loss": 9.705601769383065e-06, + "chamfer": 7.474061476386851e-06, + "track": 2.2315407477435656e-06, + "acceleration": 2.739965623277385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.007754781312542e-05, + "observation_loss": 9.906745617627166e-06, + "chamfer": 7.586375886603491e-06, + "track": 2.3203699583973503e-06, + "acceleration": 1.7080256498047675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0126518645847682e-05, + "observation_loss": 1.0010731784859672e-05, + "chamfer": 7.644816832907964e-06, + "track": 2.3659154066990595e-06, + "acceleration": 1.1578695335856537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0240002666250803e-05, + "observation_loss": 9.912706445902586e-06, + "chamfer": 7.580574219900882e-06, + "track": 2.3321324533753796e-06, + "acceleration": 3.27295850865994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0466954336152412e-05, + "observation_loss": 9.655061148805544e-06, + "chamfer": 7.422871021844912e-06, + "track": 2.2321901269606315e-06, + "acceleration": 8.118933578771248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0053799996967427e-05, + "observation_loss": 9.56281292019412e-06, + "chamfer": 7.3537707976356614e-06, + "track": 2.2090423499321332e-06, + "acceleration": 4.909874746772402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.717618922877591e-06, + "observation_loss": 9.493080142419785e-06, + "chamfer": 7.305267899937462e-06, + "track": 2.1878117877349723e-06, + "acceleration": 2.2453917836173787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.589860383130144e-06, + "observation_loss": 9.31906106416136e-06, + "chamfer": 7.178721716627479e-06, + "track": 2.140339574907557e-06, + "acceleration": 2.7079966002929723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.707031495054252e-06, + "observation_loss": 9.244397006114013e-06, + "chamfer": 7.1175727498484775e-06, + "track": 2.1268240288918605e-06, + "acceleration": 4.626346026270767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2736868484353181e-05, + "observation_loss": 9.377245987707283e-06, + "chamfer": 7.1874278546602e-06, + "track": 2.189817905673408e-06, + "acceleration": 3.359622269272222e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2493850590544753e-05, + "observation_loss": 9.610532288206741e-06, + "chamfer": 7.340947377088014e-06, + "track": 2.2695851384924026e-06, + "acceleration": 2.883318074964336e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0371549251431134e-05, + "observation_loss": 9.550543836667202e-06, + "chamfer": 7.302934591280064e-06, + "track": 2.2476097001344897e-06, + "acceleration": 8.21005073703418e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0467976608197205e-05, + "observation_loss": 9.642128134146333e-06, + "chamfer": 7.3552523645048495e-06, + "track": 2.286875769641483e-06, + "acceleration": 8.258480193035211e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0083977940666955e-05, + "observation_loss": 9.752857295097783e-06, + "chamfer": 7.423716851917561e-06, + "track": 2.329140897927573e-06, + "acceleration": 3.311209582079755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0052066500065848e-05, + "observation_loss": 9.898311873257626e-06, + "chamfer": 7.498922514059814e-06, + "track": 2.3993895865714876e-06, + "acceleration": 1.5375431416941865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0232970453216694e-05, + "observation_loss": 1.00607112472062e-05, + "chamfer": 7.579396879009437e-06, + "track": 2.4813145955704385e-06, + "acceleration": 1.7225882231741707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0380586900282651e-05, + "observation_loss": 1.029267514240928e-05, + "chamfer": 7.730091965640895e-06, + "track": 2.5625834041420603e-06, + "acceleration": 8.791159444854202e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.070625330612529e-05, + "observation_loss": 1.0617070074658841e-05, + "chamfer": 7.952810847200453e-06, + "track": 2.664259454832063e-06, + "acceleration": 8.918319593931301e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0959676728816703e-05, + "observation_loss": 1.0842944902833551e-05, + "chamfer": 8.105205779429525e-06, + "track": 2.737738668656675e-06, + "acceleration": 1.1673162703118578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.104725834011333e-05, + "observation_loss": 1.092790535039967e-05, + "chamfer": 8.146270374709275e-06, + "track": 2.7816349756903946e-06, + "acceleration": 1.193533876175934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.114699898607796e-05, + "observation_loss": 1.1000214726664126e-05, + "chamfer": 8.191372216970194e-06, + "track": 2.8088425096939318e-06, + "acceleration": 1.4678415993785165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1255561730649788e-05, + "observation_loss": 1.1098087270511314e-05, + "chamfer": 8.24560356704751e-06, + "track": 2.852483703463804e-06, + "acceleration": 1.5747433224078122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1200105291209184e-05, + "observation_loss": 1.1105863450211473e-05, + "chamfer": 8.239002454502042e-06, + "track": 2.8668614504567813e-06, + "acceleration": 9.424196889540326e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.135844286181964e-05, + "observation_loss": 1.1103525139333215e-05, + "chamfer": 8.23668233351782e-06, + "track": 2.8668430331890704e-06, + "acceleration": 2.549175235344592e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.130908276536502e-05, + "observation_loss": 1.1177411579410546e-05, + "chamfer": 8.276068911072798e-06, + "track": 2.901342440964072e-06, + "acceleration": 1.316715554366965e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1350215572747402e-05, + "observation_loss": 1.1255285244260449e-05, + "chamfer": 8.310468729177956e-06, + "track": 2.9448165150824934e-06, + "acceleration": 9.493022190554257e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.14072081487393e-05, + "observation_loss": 1.1316549716866575e-05, + "chamfer": 8.347895345650613e-06, + "track": 2.968653916468611e-06, + "acceleration": 9.065819028819533e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1480496141302865e-05, + "observation_loss": 1.1398647075111512e-05, + "chamfer": 8.391906703764107e-06, + "track": 3.0067401439737296e-06, + "acceleration": 8.184890276652368e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1460162568255328e-05, + "observation_loss": 1.1352914953022264e-05, + "chamfer": 8.366791007574648e-06, + "track": 2.9861239454476163e-06, + "acceleration": 1.072477147090467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1287824236205779e-05, + "observation_loss": 1.1194935723324306e-05, + "chamfer": 8.267355951829813e-06, + "track": 2.9275799988681683e-06, + "acceleration": 9.288879709856701e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.227797292666613e-06, + "chamfer_mean": 5.642358658519697e-06, + "track_mean": 1.5388066148721198e-06, + "acceleration_mean": 1.046632066681319e-06, + "observation_score": 7.181165242305572e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4294370290008374 + }, + "score_arrays_file": "pass_scores/pass_end_0314.npz", + "score_arrays_sha256": "97d14fce50d814f76d0bbf58d0fcd744b5b8cfd9af5c98199982b5013ed4bcf9" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0315.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0315.json new file mode 100644 index 0000000000000000000000000000000000000000..f6da71a40f3480a352996f718be9fe25075a6454 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0315.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30240, + "completed_passes": 315, + "snapshot": "pass_end_0315", + "candidate": true, + "snapshot_arrays_sha256": "e279ec3068493d3839cfb374978c679ff69ebb1abc688ab06f47f8eaecca7efa", + "score": 7.17813277380704e-06, + "score_result": { + "score": 7.17813277380704e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872500544981449e-06, + 3.1569011298415717e-06, + 3.2657592328177998e-06, + 3.6996277685830137e-06, + 4.217721198074287e-06, + 4.432494279171806e-06, + 4.188329967291793e-06, + 4.042904038215056e-06, + 3.98524616684881e-06, + 4.090560196345905e-06, + 4.4700736907543615e-06, + 4.9303048399451654e-06, + 5.23919925399241e-06, + 5.447659987112274e-06, + 5.44410249858629e-06, + 5.333529770723544e-06, + 4.9747877710615285e-06, + 4.587136572808959e-06, + 4.405598701850977e-06, + 4.38956431025872e-06, + 4.344434273662046e-06, + 4.231700131640537e-06, + 4.16599823438446e-06, + 4.164578058407642e-06, + 4.192811047687428e-06, + 4.377495770313544e-06, + 4.778744823852321e-06, + 5.0423341235728e-06, + 5.037581559008686e-06, + 4.989569333702093e-06, + 5.106812295707641e-06, + 5.317680461303098e-06, + 5.558430075325305e-06, + 5.788900125480723e-06, + 5.863271780981449e-06, + 5.982992661301978e-06, + 6.235852197278291e-06, + 6.356064659485128e-06, + 6.048832801752724e-06, + 5.616875114355935e-06, + 5.5532759688503575e-06, + 5.827193945151521e-06, + 6.014817699906416e-06, + 6.198310074978508e-06, + 6.278920864133397e-06, + 6.332491921057226e-06, + 6.473423127317801e-06, + 6.938277692825068e-06, + 7.556353921245318e-06, + 7.94904372014571e-06, + 7.801457286404911e-06, + 7.550602731498657e-06, + 7.333544999710284e-06, + 7.147906671889359e-06, + 7.130637641239446e-06, + 7.1695822043693624e-06, + 7.23296079740976e-06, + 7.296453077287879e-06, + 7.3629989856272005e-06, + 7.490473763027694e-06, + 7.638455826963764e-06, + 7.788532457198016e-06, + 8.131675713229924e-06, + 8.615157639724202e-06, + 9.184237569570541e-06, + 9.495148333371617e-06, + 9.707323442853522e-06, + 9.909229447657708e-06, + 1.0014016879722476e-05, + 9.9165608844487e-06, + 9.659263923822436e-06, + 9.566979315422941e-06, + 9.496699931332842e-06, + 9.321689503849484e-06, + 9.245519322576001e-06, + 9.374567525810562e-06, + 9.608515028958209e-06, + 9.551798939355649e-06, + 9.640564712753985e-06, + 9.749242053658236e-06, + 9.893195965560153e-06, + 1.0053687219624408e-05, + 1.0284214113198686e-05, + 1.0607602234813385e-05, + 1.0832288353412878e-05, + 1.0916561222984456e-05, + 1.0988559552060906e-05, + 1.108646574721206e-05, + 1.1094779438280966e-05, + 1.1091057785961311e-05, + 1.1165766409249045e-05, + 1.1243156222917605e-05, + 1.1304905456199776e-05, + 1.1386018741177395e-05, + 1.1340541277604643e-05, + 1.1183079550391994e-05 + ] + ], + "episode_mean_losses": [ + 7.17813277380704e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872500544981449e-06, + "observation_loss": 2.872500544981449e-06, + "chamfer": 2.436629301882931e-06, + "track": 4.35871186255099e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146179708186537e-05, + "observation_loss": 3.1569011298415717e-06, + "chamfer": 2.6699178761191433e-06, + "track": 4.869832537224283e-07, + "acceleration": 3.830489731626585e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.318604674655944e-05, + "observation_loss": 3.2657592328177998e-06, + "chamfer": 2.7651740310830064e-06, + "track": 5.005852585782122e-07, + "acceleration": 1.9920287741115317e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0135221600648947e-05, + "observation_loss": 3.6996277685830137e-06, + "chamfer": 3.1201479941955768e-06, + "track": 5.794797175440181e-07, + "acceleration": 6.435593604692258e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.904344561713515e-06, + "observation_loss": 4.217721198074287e-06, + "chamfer": 3.537845714163268e-06, + "track": 6.798754839110188e-07, + "acceleration": 1.6866234773260658e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.54847065359354e-06, + "observation_loss": 4.432494279171806e-06, + "chamfer": 3.7090680962137412e-06, + "track": 7.234263534883212e-07, + "acceleration": 1.1159766017954098e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.845193871005904e-06, + "observation_loss": 4.188329967291793e-06, + "chamfer": 3.5100879358651582e-06, + "track": 6.782422019568912e-07, + "acceleration": 6.568637900272734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.5916831368231215e-06, + "observation_loss": 4.042904038215056e-06, + "chamfer": 3.393778115423629e-06, + "track": 6.491258659480081e-07, + "acceleration": 5.487791554514843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.452384018804878e-06, + "observation_loss": 3.98524616684881e-06, + "chamfer": 3.350118959133397e-06, + "track": 6.351273214022513e-07, + "acceleration": 4.671377666909393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.394204097479815e-06, + "observation_loss": 4.090560196345905e-06, + "chamfer": 3.4365484680165537e-06, + "track": 6.540116714859323e-07, + "acceleration": 3.036439579773287e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.602861281455262e-06, + "observation_loss": 4.4700736907543615e-06, + "chamfer": 3.7453742152138148e-06, + "track": 7.24699361853709e-07, + "acceleration": 1.3278744859235303e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.020227490604157e-06, + "observation_loss": 4.9303048399451654e-06, + "chamfer": 4.114823695999803e-06, + "track": 8.154812007887813e-07, + "acceleration": 8.992287092723927e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.328766746970359e-06, + "observation_loss": 5.23919925399241e-06, + "chamfer": 4.368775535112945e-06, + "track": 8.704236620360462e-07, + "acceleration": 8.956770614076959e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.550990408664802e-06, + "observation_loss": 5.447659987112274e-06, + "chamfer": 4.54619566880865e-06, + "track": 9.014644319904619e-07, + "acceleration": 1.0333030076026262e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.5033374337654095e-06, + "observation_loss": 5.44410249858629e-06, + "chamfer": 4.5470196710084565e-06, + "track": 8.970830549515085e-07, + "acceleration": 5.923513768379962e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.45468037671526e-06, + "observation_loss": 5.333529770723544e-06, + "chamfer": 4.456748229131335e-06, + "track": 8.767814847487898e-07, + "acceleration": 1.211505491482967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.178821993467864e-06, + "observation_loss": 4.9747877710615285e-06, + "chamfer": 4.162591267231619e-06, + "track": 8.121967312035849e-07, + "acceleration": 2.0403409450864274e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.893028744845651e-06, + "observation_loss": 4.587136572808959e-06, + "chamfer": 3.842425940092653e-06, + "track": 7.447105758728867e-07, + "acceleration": 3.058921720366925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.5710235099249985e-06, + "observation_loss": 4.405598701850977e-06, + "chamfer": 3.6897649806633126e-06, + "track": 7.158338348745019e-07, + "acceleration": 1.6542468017632928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.584472662827466e-06, + "observation_loss": 4.38956431025872e-06, + "chamfer": 3.672502998597338e-06, + "track": 7.170611411311256e-07, + "acceleration": 1.9490813940592489e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.62819707536255e-06, + "observation_loss": 4.344434273662046e-06, + "chamfer": 3.6337628444016445e-06, + "track": 7.106712587301445e-07, + "acceleration": 2.8376285854392336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.5059969124849886e-06, + "observation_loss": 4.231700131640537e-06, + "chamfer": 3.5414097965258406e-06, + "track": 6.902904488015338e-07, + "acceleration": 2.742966387359047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.614930730895139e-06, + "observation_loss": 4.16599823438446e-06, + "chamfer": 3.4925587897305377e-06, + "track": 6.734395014973416e-07, + "acceleration": 4.4893272388435435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.885983344138367e-06, + "observation_loss": 4.164578058407642e-06, + "chamfer": 3.487595677142963e-06, + "track": 6.769824949515169e-07, + "acceleration": 7.21405342574144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.769496626977343e-06, + "observation_loss": 4.192811047687428e-06, + "chamfer": 3.494431894068839e-06, + "track": 6.983792104620079e-07, + "acceleration": 5.766854087596585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.730946329800645e-06, + "observation_loss": 4.377495770313544e-06, + "chamfer": 3.6289679883338977e-06, + "track": 7.485278388230654e-07, + "acceleration": 3.534504742219724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.089912974653998e-06, + "observation_loss": 4.778744823852321e-06, + "chamfer": 3.932518211513525e-06, + "track": 8.462265554953774e-07, + "acceleration": 3.1116795184971124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.246682121651247e-06, + "observation_loss": 5.0423341235728e-06, + "chamfer": 4.133881247980753e-06, + "track": 9.084527050617908e-07, + "acceleration": 2.0434818281955813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.343471457308624e-06, + "observation_loss": 5.037581559008686e-06, + "chamfer": 4.135155450057937e-06, + "track": 9.024261657941679e-07, + "acceleration": 3.0588986987822864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.195718586037401e-06, + "observation_loss": 4.989569333702093e-06, + "chamfer": 4.107816948817344e-06, + "track": 8.817523848847486e-07, + "acceleration": 2.0614919549188926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.352701009542216e-06, + "observation_loss": 5.106812295707641e-06, + "chamfer": 4.209609869576525e-06, + "track": 8.972024829745351e-07, + "acceleration": 2.4588862856944615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.677834906236967e-06, + "observation_loss": 5.317680461303098e-06, + "chamfer": 4.3784480112663005e-06, + "track": 9.392323931933788e-07, + "acceleration": 3.6015444493386894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.110504727985244e-06, + "observation_loss": 5.558430075325305e-06, + "chamfer": 4.570291821437422e-06, + "track": 9.881381402010447e-07, + "acceleration": 5.520744252862642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.930633389856666e-06, + "observation_loss": 5.788900125480723e-06, + "chamfer": 4.743124463857384e-06, + "track": 1.045775775310176e-06, + "acceleration": 1.1417330370022682e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.790343377360841e-06, + "observation_loss": 5.863271780981449e-06, + "chamfer": 4.7980206545616966e-06, + "track": 1.0652512401065906e-06, + "acceleration": 9.270716532228107e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.591109467990464e-06, + "observation_loss": 5.982992661301978e-06, + "chamfer": 4.871033524977975e-06, + "track": 1.111958908950328e-06, + "acceleration": 6.081167498450668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.839738944108831e-06, + "observation_loss": 6.235852197278291e-06, + "chamfer": 5.0459620979381725e-06, + "track": 1.1898899856532807e-06, + "acceleration": 6.038866899871209e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.8355902840266936e-06, + "observation_loss": 6.356064659485128e-06, + "chamfer": 5.144700480741449e-06, + "track": 1.2113644061173545e-06, + "acceleration": 4.795256245415658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.373407359205885e-06, + "observation_loss": 6.048832801752724e-06, + "chamfer": 4.92374101668247e-06, + "track": 1.1250917850702535e-06, + "acceleration": 3.245747279834177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8044652178068645e-06, + "observation_loss": 5.616875114355935e-06, + "chamfer": 4.588971933117136e-06, + "track": 1.0279031812387984e-06, + "acceleration": 1.8759011766178446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.8589298532751855e-06, + "observation_loss": 5.5532759688503575e-06, + "chamfer": 4.53722350357566e-06, + "track": 1.0160523515878594e-06, + "acceleration": 3.0565377073799027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.090602710173698e-06, + "observation_loss": 5.827193945151521e-06, + "chamfer": 4.736108621727908e-06, + "track": 1.0910852097367751e-06, + "acceleration": 2.634088218655961e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.140212917671306e-06, + "observation_loss": 6.014817699906416e-06, + "chamfer": 4.863277354161255e-06, + "track": 1.1515405731188366e-06, + "acceleration": 1.2539531724087283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2462959249387495e-06, + "observation_loss": 6.198310074978508e-06, + "chamfer": 4.997443284082692e-06, + "track": 1.2008666772089782e-06, + "acceleration": 4.79856261392797e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.359363396768458e-06, + "observation_loss": 6.278920864133397e-06, + "chamfer": 5.054514986113645e-06, + "track": 1.2244059917065897e-06, + "acceleration": 8.044259658390729e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.480113825091394e-06, + "observation_loss": 6.332491921057226e-06, + "chamfer": 5.094618245493621e-06, + "track": 1.2378737892504432e-06, + "acceleration": 1.4762176192562038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.672568815702107e-06, + "observation_loss": 6.473423127317801e-06, + "chamfer": 5.205640263739042e-06, + "track": 1.2677828635787591e-06, + "acceleration": 1.9914591575798113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.104400992830051e-06, + "observation_loss": 6.938277692825068e-06, + "chamfer": 5.553981281991582e-06, + "track": 1.38429618345981e-06, + "acceleration": 1.661234563243852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.705246389377862e-06, + "observation_loss": 7.556353921245318e-06, + "chamfer": 5.988719294691691e-06, + "track": 1.567634512866789e-06, + "acceleration": 1.4889204180690285e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.238723239628598e-06, + "observation_loss": 7.94904372014571e-06, + "chamfer": 6.271918664424447e-06, + "track": 1.6771246009739116e-06, + "acceleration": 2.896799173868203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.087508831522427e-06, + "observation_loss": 7.801457286404911e-06, + "chamfer": 6.174918325996259e-06, + "track": 1.6265391877823276e-06, + "acceleration": 2.8605114721358404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.813662705302704e-06, + "observation_loss": 7.550602731498657e-06, + "chamfer": 6.003997441439424e-06, + "track": 1.546605290059233e-06, + "acceleration": 2.6305960432182474e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4222657531208824e-06, + "observation_loss": 7.333544999710284e-06, + "chamfer": 5.841896836500382e-06, + "track": 1.4916480495230644e-06, + "acceleration": 8.872068235632469e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.197901595645817e-06, + "observation_loss": 7.147906671889359e-06, + "chamfer": 5.70261363463942e-06, + "track": 1.4452930372499395e-06, + "acceleration": 4.99948171750475e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.191175882326206e-06, + "observation_loss": 7.130637641239446e-06, + "chamfer": 5.685973974323133e-06, + "track": 1.4446636669163126e-06, + "acceleration": 6.053836898445297e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.249493592098588e-06, + "observation_loss": 7.1695822043693624e-06, + "chamfer": 5.705604053218849e-06, + "track": 1.4639783785241889e-06, + "acceleration": 7.991144457264454e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.27677524992032e-06, + "observation_loss": 7.23296079740976e-06, + "chamfer": 5.749626325268764e-06, + "track": 1.4833345858278335e-06, + "acceleration": 4.3814594619107083e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5035068221041e-06, + "observation_loss": 7.296453077287879e-06, + "chamfer": 5.7824963732855394e-06, + "track": 1.5139569313760148e-06, + "acceleration": 2.070537448162213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.861370249884203e-06, + "observation_loss": 7.3629989856272005e-06, + "chamfer": 5.834214334754506e-06, + "track": 1.5287848782463698e-06, + "acceleration": 4.983714916306781e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.504896868544165e-06, + "observation_loss": 7.490473763027694e-06, + "chamfer": 5.916165264352458e-06, + "track": 1.5743086123620742e-06, + "acceleration": 1.0144229918296332e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.093349945032969e-06, + "observation_loss": 7.638455826963764e-06, + "chamfer": 6.033023510099156e-06, + "track": 1.6054322031777701e-06, + "acceleration": 1.4548937770086923e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.646318747196347e-06, + "observation_loss": 7.788532457198016e-06, + "chamfer": 6.1485502556024585e-06, + "track": 1.639981746848207e-06, + "acceleration": 8.577867447456811e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.494645953760482e-06, + "observation_loss": 8.131675713229924e-06, + "chamfer": 6.398387085937429e-06, + "track": 1.7332886272924952e-06, + "acceleration": 3.6297026895226736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.896477993403096e-06, + "observation_loss": 8.615157639724202e-06, + "chamfer": 6.730601398885483e-06, + "track": 1.8845562408387195e-06, + "acceleration": 2.8132049578744045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.301902537117712e-06, + "observation_loss": 9.184237569570541e-06, + "chamfer": 7.118600933608832e-06, + "track": 2.0656366359617095e-06, + "acceleration": 1.176650030743076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.583521205058787e-06, + "observation_loss": 9.495148333371617e-06, + "chamfer": 7.32976741346647e-06, + "track": 2.1653809199051466e-06, + "acceleration": 8.83724382561013e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.981842595152557e-06, + "observation_loss": 9.707323442853522e-06, + "chamfer": 7.475493021047441e-06, + "track": 2.231830194432405e-06, + "acceleration": 2.745187543951033e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0081029358843807e-05, + "observation_loss": 9.909229447657708e-06, + "chamfer": 7.588416337966919e-06, + "track": 2.320813109690789e-06, + "acceleration": 1.718002380357575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.013022665574681e-05, + "observation_loss": 1.0014016879722476e-05, + "chamfer": 7.64737978897756e-06, + "track": 2.3666366359975655e-06, + "acceleration": 1.162097973406162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.024589528242359e-05, + "observation_loss": 9.9165608844487e-06, + "chamfer": 7.583498700114433e-06, + "track": 2.3330619569605915e-06, + "acceleration": 3.293344548183086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0474638656887691e-05, + "observation_loss": 9.659263923822436e-06, + "chamfer": 7.425992862408748e-06, + "track": 2.233270834040013e-06, + "acceleration": 8.153746193784173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0060179192805663e-05, + "observation_loss": 9.566979315422941e-06, + "chamfer": 7.356823971349513e-06, + "track": 2.210155344073428e-06, + "acceleration": 4.932003321300726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.72312773228623e-06, + "observation_loss": 9.496699931332842e-06, + "chamfer": 7.307916803256376e-06, + "track": 2.1887829007027904e-06, + "acceleration": 2.264274172603109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.592476089892443e-06, + "observation_loss": 9.321689503849484e-06, + "chamfer": 7.1805279731052e-06, + "track": 2.1411619854916353e-06, + "acceleration": 2.707868134166347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.700132068246603e-06, + "observation_loss": 9.245519322576001e-06, + "chamfer": 7.1185099841386545e-06, + "track": 2.127009565811022e-06, + "acceleration": 4.546125182969263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2746360880555585e-05, + "observation_loss": 9.374567525810562e-06, + "chamfer": 7.185200047388207e-06, + "track": 2.189367023675004e-06, + "acceleration": 3.3717931273713475e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.24823327496415e-05, + "observation_loss": 9.608515028958209e-06, + "chamfer": 7.339288004004629e-06, + "track": 2.2692265702062286e-06, + "acceleration": 2.8738181754306424e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0374105841037817e-05, + "observation_loss": 9.551798939355649e-06, + "chamfer": 7.303971869987436e-06, + "track": 2.2478266146208625e-06, + "acceleration": 8.223067879953305e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0460362318553962e-05, + "observation_loss": 9.640564712753985e-06, + "chamfer": 7.3539627010177355e-06, + "track": 2.286602239109925e-06, + "acceleration": 8.197975489565579e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0077589649881702e-05, + "observation_loss": 9.749242053658236e-06, + "chamfer": 7.421263489959529e-06, + "track": 2.3279787910723826e-06, + "acceleration": 3.2834753938004724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0054948688775767e-05, + "observation_loss": 9.893195965560153e-06, + "chamfer": 7.495861609640997e-06, + "track": 2.3973343559191562e-06, + "acceleration": 1.617526095287758e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0232580279989634e-05, + "observation_loss": 1.0053687219624408e-05, + "chamfer": 7.575070867460454e-06, + "track": 2.4786163521639537e-06, + "acceleration": 1.7889300352180726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0374347766628489e-05, + "observation_loss": 1.0284214113198686e-05, + "chamfer": 7.724953320575878e-06, + "track": 2.559260565249133e-06, + "acceleration": 9.01336889569393e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0697148354665842e-05, + "observation_loss": 1.0607602234813385e-05, + "chamfer": 7.947122867335565e-06, + "track": 2.6604789127304684e-06, + "acceleration": 8.954606300903833e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0951342119369656e-05, + "observation_loss": 1.0832288353412878e-05, + "chamfer": 8.098701073322445e-06, + "track": 2.733587052716757e-06, + "acceleration": 1.1905380858934222e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.103808062907774e-05, + "observation_loss": 1.0916561222984456e-05, + "chamfer": 8.139453711919487e-06, + "track": 2.777107056317618e-06, + "acceleration": 1.215192355630279e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1136910870845895e-05, + "observation_loss": 1.0988559552060906e-05, + "chamfer": 8.184128091670573e-06, + "track": 2.8044312330166576e-06, + "acceleration": 1.483517593214856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1244998859183397e-05, + "observation_loss": 1.108646574721206e-05, + "chamfer": 8.238443115260452e-06, + "track": 2.8480224045779323e-06, + "acceleration": 1.5853326829073922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1190369150426704e-05, + "observation_loss": 1.1094779438280966e-05, + "chamfer": 8.232422260334715e-06, + "track": 2.862357177946251e-06, + "acceleration": 9.55897121457383e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1348595762683544e-05, + "observation_loss": 1.1091057785961311e-05, + "chamfer": 8.22893161966931e-06, + "track": 2.8621261662920006e-06, + "acceleration": 2.5753791987881414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.129884913098067e-05, + "observation_loss": 1.1165766409249045e-05, + "chamfer": 8.269238605862483e-06, + "track": 2.896528030760237e-06, + "acceleration": 1.330824375145312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1338222066115122e-05, + "observation_loss": 1.1243156222917605e-05, + "chamfer": 8.303334652737249e-06, + "track": 2.939821797554032e-06, + "acceleration": 9.506607057119254e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1395108231226914e-05, + "observation_loss": 1.1304905456199776e-05, + "chamfer": 8.341329703398515e-06, + "track": 2.9635759801749373e-06, + "acceleration": 9.02026329185901e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1467450349300634e-05, + "observation_loss": 1.1386018741177395e-05, + "chamfer": 8.384542525163852e-06, + "track": 3.001476670760894e-06, + "acceleration": 8.143161522866649e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1447207725723274e-05, + "observation_loss": 1.1340541277604643e-05, + "chamfer": 8.35964601719752e-06, + "track": 2.9808950330334483e-06, + "acceleration": 1.0666625627209214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1275522410869598e-05, + "observation_loss": 1.1183079550391994e-05, + "chamfer": 8.260516551672481e-06, + "track": 2.9225634534668643e-06, + "acceleration": 9.244330101410014e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.22959307574441e-06, + "chamfer_mean": 5.64030589818761e-06, + "track_mean": 1.5378268584479808e-06, + "acceleration_mean": 1.0514603083766616e-06, + "observation_score": 7.17813277380704e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4160893030002626 + }, + "score_arrays_file": "pass_scores/pass_end_0315.npz", + "score_arrays_sha256": "2ff3288007c15998ec72101c06d09eaf346d5b71794db9e00602813a7687dabc" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0316.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0316.json new file mode 100644 index 0000000000000000000000000000000000000000..d15e55817dc5db55a946f8151989c6a3fd85b049 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0316.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30336, + "completed_passes": 316, + "snapshot": "pass_end_0316", + "candidate": true, + "snapshot_arrays_sha256": "aa9f12c385f6753f53d9a5a2323066c218e0db474cdd845d5bf408a43a3126f2", + "score": 7.175855785135354e-06, + "score_result": { + "score": 7.175855785135354e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8724512048938777e-06, + 3.156716047669761e-06, + 3.2643165468471125e-06, + 3.698238742799731e-06, + 4.216473826090805e-06, + 4.431677098182263e-06, + 4.187199010630138e-06, + 4.041020929435035e-06, + 3.98327074435656e-06, + 4.08816731578554e-06, + 4.467868166102562e-06, + 4.928027010464575e-06, + 5.236632659944007e-06, + 5.444925136544043e-06, + 5.4413194447988644e-06, + 5.330589829100063e-06, + 4.9718355512595735e-06, + 4.58425438409904e-06, + 4.402921149448957e-06, + 4.387418812257238e-06, + 4.342336524132406e-06, + 4.228409125062171e-06, + 4.161653578194091e-06, + 4.160687240073457e-06, + 4.190595063846558e-06, + 4.375850949145388e-06, + 4.777461072080769e-06, + 5.038994004280539e-06, + 5.03382352690096e-06, + 4.985343366570305e-06, + 5.104981482872972e-06, + 5.31944078829838e-06, + 5.562542355619371e-06, + 5.795048309664708e-06, + 5.871021130587906e-06, + 5.9865869843633845e-06, + 6.235819000721676e-06, + 6.357586698868545e-06, + 6.051408036000794e-06, + 5.6185222092608456e-06, + 5.5498835536127444e-06, + 5.823055289511103e-06, + 6.011841378494864e-06, + 6.195358764671255e-06, + 6.275041869230336e-06, + 6.3293236962636e-06, + 6.471159395005088e-06, + 6.936106274224585e-06, + 7.554107469331939e-06, + 7.94634070189204e-06, + 7.799313607392833e-06, + 7.549518159066793e-06, + 7.3330711529706605e-06, + 7.14736324880505e-06, + 7.130228823370999e-06, + 7.16928843758069e-06, + 7.2326056397287175e-06, + 7.2967345658980776e-06, + 7.363528311543632e-06, + 7.491540600312874e-06, + 7.639921932423022e-06, + 7.79062247602269e-06, + 8.13439783087233e-06, + 8.618641913926695e-06, + 9.1887823145953e-06, + 9.500699889031239e-06, + 9.714101906865835e-06, + 9.91655633697519e-06, + 1.0021813068306074e-05, + 9.924355254042894e-06, + 9.66681727732066e-06, + 9.574124305800069e-06, + 9.50315279624192e-06, + 9.326487088401336e-06, + 9.24785763345426e-06, + 9.372670319862664e-06, + 9.6063558885362e-06, + 9.552593837724999e-06, + 9.638093615649268e-06, + 9.744527233124245e-06, + 9.88649480859749e-06, + 1.0044961527455598e-05, + 1.0273422049067449e-05, + 1.0595865205687005e-05, + 1.0819247108884156e-05, + 1.0903054317168426e-05, + 1.0974268661811948e-05, + 1.107206662709359e-05, + 1.1080640433647204e-05, + 1.1075956535933074e-05, + 1.1151222679472994e-05, + 1.1228490620851517e-05, + 1.1290389011264779e-05, + 1.1370769243512768e-05, + 1.132549368776381e-05, + 1.1168393939442467e-05 + ] + ], + "episode_mean_losses": [ + 7.175855785135354e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8724512048938777e-06, + "observation_loss": 2.8724512048938777e-06, + "chamfer": 2.436578597553307e-06, + "track": 4.3587272102740826e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146372521063313e-05, + "observation_loss": 3.156716047669761e-06, + "chamfer": 2.6697564408095786e-06, + "track": 4.869596068601822e-07, + "acceleration": 3.830701098195277e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.317845974175725e-05, + "observation_loss": 3.2643165468471125e-06, + "chamfer": 2.7639753170660697e-06, + "track": 5.003413434678805e-07, + "acceleration": 1.991414319491014e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0131981980521232e-05, + "observation_loss": 3.698238742799731e-06, + "chamfer": 3.1189936180453515e-06, + "track": 5.792451247543795e-07, + "acceleration": 6.433743692468852e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.893513844057452e-06, + "observation_loss": 4.216473826090805e-06, + "chamfer": 3.536812073434703e-06, + "track": 6.796616958126833e-07, + "acceleration": 1.6770402453403221e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5453292588936165e-06, + "observation_loss": 4.431677098182263e-06, + "chamfer": 3.7083732422615867e-06, + "track": 7.23303912764095e-07, + "acceleration": 1.113652047024516e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.842995622311719e-06, + "observation_loss": 4.187199010630138e-06, + "chamfer": 3.5091195513814455e-06, + "track": 6.780794592486927e-07, + "acceleration": 6.55796839055256e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.591355718730483e-06, + "observation_loss": 4.041020929435035e-06, + "chamfer": 3.3921880913112545e-06, + "track": 6.488329518106184e-07, + "acceleration": 5.503346756086103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4507792154036e-06, + "observation_loss": 3.98327074435656e-06, + "chamfer": 3.348461632413091e-06, + "track": 6.348091687868873e-07, + "acceleration": 4.6750827209507406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.391545644466532e-06, + "observation_loss": 4.08816731578554e-06, + "chamfer": 3.4345555377512937e-06, + "track": 6.536116075039899e-07, + "acceleration": 3.033782149941544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.600602096616058e-06, + "observation_loss": 4.467868166102562e-06, + "chamfer": 3.743555225810269e-06, + "track": 7.243128834488743e-07, + "acceleration": 1.327341436763163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.017963303544093e-06, + "observation_loss": 4.928027010464575e-06, + "chamfer": 4.1129674173134845e-06, + "track": 8.150593657774152e-07, + "acceleration": 8.993643518806493e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.326076461642515e-06, + "observation_loss": 5.236632659944007e-06, + "chamfer": 4.36668506154092e-06, + "track": 8.69947541559668e-07, + "acceleration": 8.944395801790961e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.548168246605201e-06, + "observation_loss": 5.444925136544043e-06, + "chamfer": 4.543980594462482e-06, + "track": 9.009445989249798e-07, + "acceleration": 1.0324307453402071e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.500578481587581e-06, + "observation_loss": 5.4413194447988644e-06, + "chamfer": 4.544760031421902e-06, + "track": 8.965592428467062e-07, + "acceleration": 5.92588378367509e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.4518250180990435e-06, + "observation_loss": 5.330589829100063e-06, + "chamfer": 4.454365807760041e-06, + "track": 8.76223964496603e-07, + "acceleration": 1.212353311075276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.175820660952013e-06, + "observation_loss": 4.9718355512595735e-06, + "chamfer": 4.160178377787815e-06, + "track": 8.116574008454336e-07, + "acceleration": 2.0398519495756773e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.890582204097882e-06, + "observation_loss": 4.58425438409904e-06, + "chamfer": 3.84007989850943e-06, + "track": 7.441745992764481e-07, + "acceleration": 3.0632784842055116e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.5683277676289435e-06, + "observation_loss": 4.402921149448957e-06, + "chamfer": 3.687549678943469e-06, + "track": 7.153715841923258e-07, + "acceleration": 1.6540671765596926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.5815454541298095e-06, + "observation_loss": 4.387418812257238e-06, + "chamfer": 3.67072402696067e-06, + "track": 7.166950126702432e-07, + "acceleration": 1.9412648555316991e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6269979065982625e-06, + "observation_loss": 4.342336524132406e-06, + "chamfer": 3.6320366234576795e-06, + "track": 7.102999006747268e-07, + "acceleration": 2.8466158141782216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.5031374611426145e-06, + "observation_loss": 4.228409125062171e-06, + "chamfer": 3.5387015486776363e-06, + "track": 6.897074626976973e-07, + "acceleration": 2.747282508153148e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.626300324162003e-06, + "observation_loss": 4.161653578194091e-06, + "chamfer": 3.4889576454588678e-06, + "track": 6.726961032654799e-07, + "acceleration": 4.64646973341587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.9155969463754445e-06, + "observation_loss": 4.160687240073457e-06, + "chamfer": 3.484372655293555e-06, + "track": 6.763146984667401e-07, + "acceleration": 7.549095926151494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.787128091265913e-06, + "observation_loss": 4.190595063846558e-06, + "chamfer": 3.4925581076095114e-06, + "track": 6.980370130804658e-07, + "acceleration": 5.965332547930302e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.7372082008223515e-06, + "observation_loss": 4.375850949145388e-06, + "chamfer": 3.6276371702115284e-06, + "track": 7.482136084036028e-07, + "acceleration": 3.613571379901259e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.090799277240876e-06, + "observation_loss": 4.777461072080769e-06, + "chamfer": 3.931504124921048e-06, + "track": 8.459571176899772e-07, + "acceleration": 3.133382335818169e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.2460759434325155e-06, + "observation_loss": 5.038994004280539e-06, + "chamfer": 4.131250079808524e-06, + "track": 9.077439813154342e-07, + "acceleration": 2.070817970434291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.343070370145142e-06, + "observation_loss": 5.03382352690096e-06, + "chamfer": 4.1320804484712426e-06, + "track": 9.017432489599742e-07, + "acceleration": 3.0924695693101967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.200732175580924e-06, + "observation_loss": 4.985343366570305e-06, + "chamfer": 4.104405888938345e-06, + "track": 8.809375344753789e-07, + "acceleration": 2.1538892269745702e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3609205679094885e-06, + "observation_loss": 5.104981482872972e-06, + "chamfer": 4.208158770779846e-06, + "track": 8.96822712093126e-07, + "acceleration": 2.5593922714506334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.707447598979343e-06, + "observation_loss": 5.31944078829838e-06, + "chamfer": 4.379824076750083e-06, + "track": 9.396169389219722e-07, + "acceleration": 3.880070096329291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.177751856739633e-06, + "observation_loss": 5.562542355619371e-06, + "chamfer": 4.573705609800527e-06, + "track": 9.88836745818844e-07, + "acceleration": 6.152095011202618e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.092621672200039e-06, + "observation_loss": 5.795048309664708e-06, + "chamfer": 4.748124865727732e-06, + "track": 1.046923330250138e-06, + "acceleration": 1.2975735899090068e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.020843895588769e-06, + "observation_loss": 5.871021130587906e-06, + "chamfer": 4.804123364010593e-06, + "track": 1.066897652890475e-06, + "acceleration": 1.1498226513140253e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.623138233408099e-06, + "observation_loss": 5.9865869843633845e-06, + "chamfer": 4.873962097917683e-06, + "track": 1.1126247727588634e-06, + "acceleration": 6.365513058881334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.863649559818441e-06, + "observation_loss": 6.235819000721676e-06, + "chamfer": 5.045907528256066e-06, + "track": 1.1899114724656101e-06, + "acceleration": 6.278306159401836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.8770777943427674e-06, + "observation_loss": 6.357586698868545e-06, + "chamfer": 5.145751401869347e-06, + "track": 1.2118352969991975e-06, + "acceleration": 5.194911523176415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.397215656761546e-06, + "observation_loss": 6.051408036000794e-06, + "chamfer": 4.925637313135667e-06, + "track": 1.1257708365519647e-06, + "acceleration": 3.4580756391733303e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.817553301312728e-06, + "observation_loss": 5.6185222092608456e-06, + "chamfer": 4.5902288547949865e-06, + "track": 1.0282932407790213e-06, + "acceleration": 1.99030907310771e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.854390110471286e-06, + "observation_loss": 5.5498835536127444e-06, + "chamfer": 4.5344831960392185e-06, + "track": 1.0154004712603637e-06, + "acceleration": 3.045064431717037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.080550065235002e-06, + "observation_loss": 5.823055289511103e-06, + "chamfer": 4.732839897769736e-06, + "track": 1.0902156191150425e-06, + "acceleration": 2.5749474730218935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.1321084103838075e-06, + "observation_loss": 6.011841378494864e-06, + "chamfer": 4.860882199864136e-06, + "track": 1.1509591786307283e-06, + "acceleration": 1.2026720241919975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.24373114987975e-06, + "observation_loss": 6.195358764671255e-06, + "chamfer": 4.995071776647819e-06, + "track": 1.2002867606497603e-06, + "acceleration": 4.837241718291807e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.354997822199948e-06, + "observation_loss": 6.275041869230336e-06, + "chamfer": 5.051439984526951e-06, + "track": 1.2236018847033847e-06, + "acceleration": 7.9956180343288e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.47248361929087e-06, + "observation_loss": 6.3293236962636e-06, + "chamfer": 5.092132596473675e-06, + "track": 1.2371912134767626e-06, + "acceleration": 1.4316000829239783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.669220056210179e-06, + "observation_loss": 6.471159395005088e-06, + "chamfer": 5.203858108870918e-06, + "track": 1.267301058760495e-06, + "acceleration": 1.9806071804850944e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.102167728589848e-06, + "observation_loss": 6.936106274224585e-06, + "chamfer": 5.5523487390019e-06, + "track": 1.383757535222685e-06, + "acceleration": 1.6606138331098919e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.702339644310996e-06, + "observation_loss": 7.554107469331939e-06, + "chamfer": 5.987081294733798e-06, + "track": 1.5670259472244652e-06, + "acceleration": 1.482320186596553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.236273970396724e-06, + "observation_loss": 7.94634070189204e-06, + "chamfer": 6.269953701121267e-06, + "track": 1.6763865460234229e-06, + "acceleration": 2.8993338219152065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.085250556177925e-06, + "observation_loss": 7.799313607392833e-06, + "chamfer": 6.173477686388651e-06, + "track": 1.6258363757515326e-06, + "acceleration": 2.8593674983312667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.812617695890367e-06, + "observation_loss": 7.549518159066793e-06, + "chamfer": 6.0033053159713745e-06, + "track": 1.546212843095418e-06, + "acceleration": 2.630998494623782e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.422252110700356e-06, + "observation_loss": 7.3330711529706605e-06, + "chamfer": 5.84157760386006e-06, + "track": 1.4914935491106007e-06, + "acceleration": 8.918084404285764e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.197346349130385e-06, + "observation_loss": 7.14736324880505e-06, + "chamfer": 5.702250291506061e-06, + "track": 1.4451130709858262e-06, + "acceleration": 4.998321756488622e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1906338234839495e-06, + "observation_loss": 7.130228823370999e-06, + "chamfer": 5.685729320248356e-06, + "track": 1.4444995031226426e-06, + "acceleration": 6.040509958893381e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.249759619298857e-06, + "observation_loss": 7.16928843758069e-06, + "chamfer": 5.705408057110617e-06, + "track": 1.4638803804700729e-06, + "acceleration": 8.047102539876505e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.276542419276666e-06, + "observation_loss": 7.2326056397287175e-06, + "chamfer": 5.749374849983724e-06, + "track": 1.4832307897449937e-06, + "acceleration": 4.393689323478611e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5034249675809406e-06, + "observation_loss": 7.2967345658980776e-06, + "chamfer": 5.782722837466281e-06, + "track": 1.5140117284317967e-06, + "acceleration": 2.06690202730897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.862387974455487e-06, + "observation_loss": 7.363528311543632e-06, + "chamfer": 5.8346172409073915e-06, + "track": 1.5289110706362408e-06, + "acceleration": 4.988596060684358e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.508096470905002e-06, + "observation_loss": 7.491540600312874e-06, + "chamfer": 5.9169947235204745e-06, + "track": 1.5745456494187238e-06, + "acceleration": 1.0165555295316153e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.099479939322919e-06, + "observation_loss": 7.639921932423022e-06, + "chamfer": 6.034117632225389e-06, + "track": 1.6058046412581461e-06, + "acceleration": 1.4595575521525461e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.6511172412429e-06, + "observation_loss": 7.79062247602269e-06, + "chamfer": 6.150125500425929e-06, + "track": 1.6404966345362482e-06, + "acceleration": 8.604952199675608e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.498623174091335e-06, + "observation_loss": 8.13439783087233e-06, + "chamfer": 6.4003843363025226e-06, + "track": 1.7340133808829705e-06, + "acceleration": 3.6422505900191027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.900936336431187e-06, + "observation_loss": 8.618641913926695e-06, + "chamfer": 6.733124791935552e-06, + "track": 1.8855167809306295e-06, + "acceleration": 2.822941382873978e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.307073014497291e-06, + "observation_loss": 9.1887823145953e-06, + "chamfer": 7.121875569282565e-06, + "track": 2.0669067453127354e-06, + "acceleration": 1.1829033752519535e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.589410183252767e-06, + "observation_loss": 9.500699889031239e-06, + "chamfer": 7.333766461670166e-06, + "track": 2.166932972613722e-06, + "acceleration": 8.871047185721181e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.98923133010976e-06, + "observation_loss": 9.714101906865835e-06, + "chamfer": 7.480531621695263e-06, + "track": 2.2335700577968964e-06, + "acceleration": 2.751291674485401e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0088432645716239e-05, + "observation_loss": 9.91655633697519e-06, + "chamfer": 7.5938291956845205e-06, + "track": 2.322726913916995e-06, + "acceleration": 1.7187640821703098e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0137934623344336e-05, + "observation_loss": 1.0021813068306074e-05, + "chamfer": 7.653124157513957e-06, + "track": 2.3686891381657915e-06, + "acceleration": 1.161211784506122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0253733307763468e-05, + "observation_loss": 9.924355254042894e-06, + "chamfer": 7.589189408463426e-06, + "track": 2.3351658455794677e-06, + "acceleration": 3.2937833793766913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0482391189725604e-05, + "observation_loss": 9.66681727732066e-06, + "chamfer": 7.431451194861438e-06, + "track": 2.2353656277118716e-06, + "acceleration": 8.155737418746867e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0067789844470099e-05, + "observation_loss": 9.574124305800069e-06, + "chamfer": 7.3619894465082325e-06, + "track": 2.2121348592918366e-06, + "acceleration": 4.936657660437049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.730410056363326e-06, + "observation_loss": 9.50315279624192e-06, + "chamfer": 7.312553861993365e-06, + "track": 2.1905989342485555e-06, + "acceleration": 2.2725681958490895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.596654308552388e-06, + "observation_loss": 9.326487088401336e-06, + "chamfer": 7.183858997450443e-06, + "track": 2.1426280909508932e-06, + "acceleration": 2.701668790905387e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.698189387563616e-06, + "observation_loss": 9.24785763345426e-06, + "chamfer": 7.120331702026306e-06, + "track": 2.1275257040542783e-06, + "acceleration": 4.50331782531066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2762800906784832e-05, + "observation_loss": 9.372670319862664e-06, + "chamfer": 7.183512934716418e-06, + "track": 2.189157612519921e-06, + "acceleration": 3.3901303595484933e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2463460734579712e-05, + "observation_loss": 9.6063558885362e-06, + "chamfer": 7.3374726525798906e-06, + "track": 2.2688832359563094e-06, + "acceleration": 2.8571043912961613e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0381484571553301e-05, + "observation_loss": 9.552593837724999e-06, + "chamfer": 7.304684913833626e-06, + "track": 2.247909378638724e-06, + "acceleration": 8.288908475151402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0452017704665195e-05, + "observation_loss": 9.638093615649268e-06, + "chamfer": 7.3520363912393805e-06, + "track": 2.2860567696625367e-06, + "acceleration": 8.139240890159272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0069294148706831e-05, + "observation_loss": 9.744527233124245e-06, + "chamfer": 7.41802205084241e-06, + "track": 2.3265049549081596e-06, + "acceleration": 3.2476651767865405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0057358849735465e-05, + "observation_loss": 9.88649480859749e-06, + "chamfer": 7.49172340874793e-06, + "track": 2.39477139984956e-06, + "acceleration": 1.7086399850541056e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0232331078441348e-05, + "observation_loss": 1.0044961527455598e-05, + "chamfer": 7.569604804302799e-06, + "track": 2.475356950526475e-06, + "acceleration": 1.8736965046173282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0366548849560786e-05, + "observation_loss": 1.0273422049067449e-05, + "chamfer": 7.718188498984091e-06, + "track": 2.5552333227096824e-06, + "acceleration": 9.312691418017494e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0686315363273025e-05, + "observation_loss": 1.0595865205687005e-05, + "chamfer": 7.939936040202156e-06, + "track": 2.6559291654848494e-06, + "acceleration": 9.045009363717327e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0940686479443684e-05, + "observation_loss": 1.0819247108884156e-05, + "chamfer": 8.090540177363437e-06, + "track": 2.728706931520719e-06, + "acceleration": 1.214397826743152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1027240361727308e-05, + "observation_loss": 1.0903054317168426e-05, + "chamfer": 8.131170034175739e-06, + "track": 2.7718845103663625e-06, + "acceleration": 1.241857603417884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1123846888949629e-05, + "observation_loss": 1.0974268661811948e-05, + "chamfer": 8.175111361197196e-06, + "track": 2.799156845867401e-06, + "acceleration": 1.495785113547754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1231730240979232e-05, + "observation_loss": 1.107206662709359e-05, + "chamfer": 8.229463674069848e-06, + "track": 2.842602498276392e-06, + "acceleration": 1.596631591382902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1178346539963968e-05, + "observation_loss": 1.1080640433647204e-05, + "chamfer": 8.223840268328786e-06, + "track": 2.856799937944743e-06, + "acceleration": 9.770608500048183e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1337223440932576e-05, + "observation_loss": 1.1075956535933074e-05, + "chamfer": 8.219479241233785e-06, + "track": 2.8564775220729643e-06, + "acceleration": 2.6126693342121143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.12868092401186e-05, + "observation_loss": 1.1151222679472994e-05, + "chamfer": 8.260463800979778e-06, + "track": 2.8907586511195404e-06, + "acceleration": 1.355862195850932e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1324178558425047e-05, + "observation_loss": 1.1228490620851517e-05, + "chamfer": 8.294557119370438e-06, + "track": 2.9339330467337277e-06, + "acceleration": 9.568827152861559e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1380244359315839e-05, + "observation_loss": 1.1290389011264779e-05, + "chamfer": 8.332813195011113e-06, + "track": 2.957575816253666e-06, + "acceleration": 8.985519883708548e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1451827049313579e-05, + "observation_loss": 1.1370769243512768e-05, + "chamfer": 8.375523975701071e-06, + "track": 2.9952450404380215e-06, + "acceleration": 8.105791948764818e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.143217014032416e-05, + "observation_loss": 1.132549368776381e-05, + "chamfer": 8.350864845851902e-06, + "track": 2.9746288419119082e-06, + "acceleration": 1.0667611860526449e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1260997780482285e-05, + "observation_loss": 1.1168393939442467e-05, + "chamfer": 8.251906365330797e-06, + "track": 2.9164878014853457e-06, + "acceleration": 9.260391209409136e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.234726962541572e-06, + "chamfer_mean": 5.6388469526306535e-06, + "track_mean": 1.5370088040829917e-06, + "acceleration_mean": 1.0588711825872583e-06, + "observation_score": 7.175855785135354e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4318680819997098 + }, + "score_arrays_file": "pass_scores/pass_end_0316.npz", + "score_arrays_sha256": "6cdaa8d81056d8926da7319a0db08b690ae3204aaca7b79a6927792abe1c8605" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0317.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0317.json new file mode 100644 index 0000000000000000000000000000000000000000..b561010c6ae26b25220bd7d74c70ad0451d0a5dd --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0317.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30432, + "completed_passes": 317, + "snapshot": "pass_end_0317", + "candidate": true, + "snapshot_arrays_sha256": "3e5996f4a0c810fadd6f43b853a9040245456b9e67a6278b616f868198e81c94", + "score": 7.171900520575036e-06, + "score_result": { + "score": 7.171900520575036e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872418917831965e-06, + 3.15651300297759e-06, + 3.262837935835705e-06, + 3.696857220347738e-06, + 4.215178705635481e-06, + 4.430870831129141e-06, + 4.186144906270783e-06, + 4.039250143250683e-06, + 3.981551344622858e-06, + 4.086208264197921e-06, + 4.46570720669115e-06, + 4.92592107548262e-06, + 5.234899163042428e-06, + 5.443249392556027e-06, + 5.439661435957532e-06, + 5.329071882442804e-06, + 4.9702457545208745e-06, + 4.582361725624651e-06, + 4.400982561492128e-06, + 4.386040927784052e-06, + 4.341578460298479e-06, + 4.22687980972114e-06, + 4.158539468335221e-06, + 4.1572739064577036e-06, + 4.18778472521808e-06, + 4.373436240712181e-06, + 4.774979970534332e-06, + 5.033158231526613e-06, + 5.02771899846266e-06, + 4.97889777761884e-06, + 5.101278475194704e-06, + 5.318628609529696e-06, + 5.5664095270913094e-06, + 5.800465260108467e-06, + 5.876182513020467e-06, + 5.987982149235904e-06, + 6.234944066818571e-06, + 6.356236099236412e-06, + 6.052102889952948e-06, + 5.6194076023530215e-06, + 5.54623920834274e-06, + 5.819243597215973e-06, + 6.009909157000948e-06, + 6.193256922415458e-06, + 6.272503924265038e-06, + 6.327305527520366e-06, + 6.469869276770623e-06, + 6.935712463018717e-06, + 7.554398052889155e-06, + 7.946041478135157e-06, + 7.798967999406159e-06, + 7.549992915301118e-06, + 7.33371234673541e-06, + 7.147575161070563e-06, + 7.129874575184658e-06, + 7.168356660258723e-06, + 7.2315565375902224e-06, + 7.296042895177379e-06, + 7.362988981185481e-06, + 7.491563337680418e-06, + 7.6400137913879e-06, + 7.791477401042357e-06, + 8.136827091220766e-06, + 8.622650057077408e-06, + 9.193716323352419e-06, + 9.506458809482865e-06, + 9.720261004986241e-06, + 9.92296827462269e-06, + 1.0028390533989295e-05, + 9.930614396580495e-06, + 9.671910447650589e-06, + 9.57876727625262e-06, + 9.506308742857073e-06, + 9.328016858489718e-06, + 9.24537016544491e-06, + 9.36285505304113e-06, + 9.594894436304457e-06, + 9.544643944536801e-06, + 9.627336112316698e-06, + 9.731348654895555e-06, + 9.8720847745426e-06, + 1.0029815712186974e-05, + 1.0256660061713774e-05, + 1.0578401997918263e-05, + 1.0800503332575317e-05, + 1.0883910363190807e-05, + 1.0954840945487376e-05, + 1.1052000445488375e-05, + 1.1061083569074981e-05, + 1.1054982678615488e-05, + 1.1130357961519621e-05, + 1.1207714123884216e-05, + 1.126943425333593e-05, + 1.1349437045282684e-05, + 1.130403506977018e-05, + 1.1147390068799723e-05 + ] + ], + "episode_mean_losses": [ + 7.171900520575036e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872418917831965e-06, + "observation_loss": 2.872418917831965e-06, + "chamfer": 2.43654153564421e-06, + "track": 4.3587729692262656e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1462655644863844e-05, + "observation_loss": 3.15651300297759e-06, + "chamfer": 2.66958022621111e-06, + "track": 4.869328336098988e-07, + "acceleration": 3.830614150501788e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3170634449343197e-05, + "observation_loss": 3.262837935835705e-06, + "chamfer": 2.762747271845001e-06, + "track": 5.000907208341232e-07, + "acceleration": 1.9907796740881167e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0128182111657225e-05, + "observation_loss": 3.696857220347738e-06, + "chamfer": 3.1178444714896614e-06, + "track": 5.790127488580765e-07, + "acceleration": 6.431324436562136e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.8816558521357365e-06, + "observation_loss": 4.215178705635481e-06, + "chamfer": 3.53573841493926e-06, + "track": 6.794405180698959e-07, + "acceleration": 1.6664770328134182e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5423251978936605e-06, + "observation_loss": 4.430870831129141e-06, + "chamfer": 3.7076852095196955e-06, + "track": 7.231857352962834e-07, + "acceleration": 1.1114542530776816e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.840217570745153e-06, + "observation_loss": 4.186144906270783e-06, + "chamfer": 3.5082084650639445e-06, + "track": 6.779363275200012e-07, + "acceleration": 6.540727781612077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.5913129724795e-06, + "observation_loss": 4.039250143250683e-06, + "chamfer": 3.3906762837432325e-06, + "track": 6.485740300377074e-07, + "acceleration": 5.520629429156543e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4499147406895645e-06, + "observation_loss": 3.981551344622858e-06, + "chamfer": 3.3470043945271755e-06, + "track": 6.345468364088447e-07, + "acceleration": 4.683633676449972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.389745299704373e-06, + "observation_loss": 4.086208264197921e-06, + "chamfer": 3.432907988099032e-06, + "track": 6.533001055686327e-07, + "acceleration": 3.035372344584175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.599021849571727e-06, + "observation_loss": 4.46570720669115e-06, + "chamfer": 3.741759201147943e-06, + "track": 7.239478350129502e-07, + "acceleration": 1.3331451498288516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.016188879380934e-06, + "observation_loss": 4.92592107548262e-06, + "chamfer": 4.111227553948993e-06, + "track": 8.146934078467893e-07, + "acceleration": 9.026761205177536e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.324733137967996e-06, + "observation_loss": 5.234899163042428e-06, + "chamfer": 4.365248059912119e-06, + "track": 8.696509894434712e-07, + "acceleration": 8.983418808838906e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.546625288843643e-06, + "observation_loss": 5.443249392556027e-06, + "chamfer": 4.542602709989296e-06, + "track": 9.006468530969869e-07, + "acceleration": 1.0337608102872764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.499121925822692e-06, + "observation_loss": 5.439661435957532e-06, + "chamfer": 4.543411250779172e-06, + "track": 8.9625018517836e-07, + "acceleration": 5.946069236983931e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.45059219803079e-06, + "observation_loss": 5.329071882442804e-06, + "chamfer": 4.453125256986823e-06, + "track": 8.759467391428188e-07, + "acceleration": 1.2152011663602025e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.174149009690154e-06, + "observation_loss": 4.9702457545208745e-06, + "chamfer": 4.158871433901368e-06, + "track": 8.113744911497633e-07, + "acceleration": 2.0390311306073272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.8884649004321545e-06, + "observation_loss": 4.582361725624651e-06, + "chamfer": 3.838544216705486e-06, + "track": 7.438176794494211e-07, + "acceleration": 3.061031748075038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.5659485294891056e-06, + "observation_loss": 4.400982561492128e-06, + "chamfer": 3.685940328068682e-06, + "track": 7.150422902668652e-07, + "acceleration": 1.649659111535584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.579465439746855e-06, + "observation_loss": 4.386040927784052e-06, + "chamfer": 3.669561010610778e-06, + "track": 7.164798034864361e-07, + "acceleration": 1.934244266976748e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.627045200322755e-06, + "observation_loss": 4.341578460298479e-06, + "chamfer": 3.631393155956175e-06, + "track": 7.101851338120468e-07, + "acceleration": 2.8546671160256665e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.502002866502153e-06, + "observation_loss": 4.22687980972114e-06, + "chamfer": 3.5374241633689962e-06, + "track": 6.894557031955628e-07, + "acceleration": 2.751231136244314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.6355412450793665e-06, + "observation_loss": 4.158539468335221e-06, + "chamfer": 3.4863699056586483e-06, + "track": 6.721696195199911e-07, + "acceleration": 4.770018335875648e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.938978236168623e-06, + "observation_loss": 4.1572739064577036e-06, + "chamfer": 3.481540943539585e-06, + "track": 6.75732792387862e-07, + "acceleration": 7.817044433977571e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.800819169759052e-06, + "observation_loss": 4.18778472521808e-06, + "chamfer": 3.4901702292700065e-06, + "track": 6.976144391046546e-07, + "acceleration": 6.130345013843908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.739674295706209e-06, + "observation_loss": 4.373436240712181e-06, + "chamfer": 3.6256353723729262e-06, + "track": 7.4780109571293e-07, + "acceleration": 3.6623814025915635e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.087311365059577e-06, + "observation_loss": 4.774979970534332e-06, + "chamfer": 3.929509148292709e-06, + "track": 8.454710496152984e-07, + "acceleration": 3.123311955732788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.241812687017955e-06, + "observation_loss": 5.033158231526613e-06, + "chamfer": 4.126616659050342e-06, + "track": 9.065414587894338e-07, + "acceleration": 2.0865424232852092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.343090379028581e-06, + "observation_loss": 5.02771899846266e-06, + "chamfer": 4.127139618503861e-06, + "track": 9.005793231153802e-07, + "acceleration": 3.1537146583104914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.206476089369971e-06, + "observation_loss": 4.97889777761884e-06, + "chamfer": 4.099207671970362e-06, + "track": 8.796902193353162e-07, + "acceleration": 2.2757841122711397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.36497918801615e-06, + "observation_loss": 5.101278475194704e-06, + "chamfer": 4.205187451589154e-06, + "track": 8.96090909918712e-07, + "acceleration": 2.6370059913460864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.73073066334473e-06, + "observation_loss": 5.318628609529696e-06, + "chamfer": 4.379173788038315e-06, + "track": 9.394547078045434e-07, + "acceleration": 4.1210211065845215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.260980171646224e-06, + "observation_loss": 5.5664095270913094e-06, + "chamfer": 4.576912942866329e-06, + "track": 9.894965842249803e-07, + "acceleration": 6.945704740246583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.221911801025271e-06, + "observation_loss": 5.800465260108467e-06, + "chamfer": 4.752626864501508e-06, + "track": 1.0478383956069592e-06, + "acceleration": 1.4214467682904797e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.147894393710885e-06, + "observation_loss": 5.876182513020467e-06, + "chamfer": 4.8083907131513115e-06, + "track": 1.067792027242831e-06, + "acceleration": 1.2717116533167427e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.691804628644604e-06, + "observation_loss": 5.987982149235904e-06, + "chamfer": 4.875358172284905e-06, + "track": 1.1126239769509993e-06, + "acceleration": 7.038224794087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.9129609983065166e-06, + "observation_loss": 6.234944066818571e-06, + "chamfer": 5.0453254516469315e-06, + "track": 1.189618728858477e-06, + "acceleration": 6.780171588616213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.920979103597347e-06, + "observation_loss": 6.356236099236412e-06, + "chamfer": 5.144522219779901e-06, + "track": 1.211713765769673e-06, + "acceleration": 5.647428338306781e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.432758254959481e-06, + "observation_loss": 6.052102889952948e-06, + "chamfer": 4.926084329781588e-06, + "track": 1.1260184464845224e-06, + "acceleration": 3.8065530816311366e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8288978834752925e-06, + "observation_loss": 5.6194076023530215e-06, + "chamfer": 4.590907337842509e-06, + "track": 1.0285004918841878e-06, + "acceleration": 2.094904942850917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.8491968957241625e-06, + "observation_loss": 5.54623920834274e-06, + "chamfer": 4.531595550361089e-06, + "track": 1.0146435442948132e-06, + "acceleration": 3.0295780106825987e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.072290489100851e-06, + "observation_loss": 5.819243597215973e-06, + "chamfer": 4.729801275971113e-06, + "track": 1.0894422075580223e-06, + "acceleration": 2.5304669293291226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.124982519395417e-06, + "observation_loss": 6.009909157000948e-06, + "chamfer": 4.859276941715507e-06, + "track": 1.1506324426591164e-06, + "acceleration": 1.1507324160220378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.242958988877945e-06, + "observation_loss": 6.193256922415458e-06, + "chamfer": 4.993323727831012e-06, + "track": 1.1999334219581215e-06, + "acceleration": 4.97019456702219e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.351875072141411e-06, + "observation_loss": 6.272503924265038e-06, + "chamfer": 5.049409082857892e-06, + "track": 1.2230948414071463e-06, + "acceleration": 7.937113366551785e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.46870830678381e-06, + "observation_loss": 6.327305527520366e-06, + "chamfer": 5.0905096031783614e-06, + "track": 1.2367958106551669e-06, + "acceleration": 1.4140294979370083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.666887657047482e-06, + "observation_loss": 6.469869276770623e-06, + "chamfer": 5.2027826313860714e-06, + "track": 1.267086645384552e-06, + "acceleration": 1.9701825237916637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1015515459293965e-06, + "observation_loss": 6.935712463018717e-06, + "chamfer": 5.551999493036419e-06, + "track": 1.383712969982298e-06, + "acceleration": 1.6583915396495286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.702668881393038e-06, + "observation_loss": 7.554398052889155e-06, + "chamfer": 5.987247732264223e-06, + "track": 1.5671504343117704e-06, + "acceleration": 1.482708995581561e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.234944289142732e-06, + "observation_loss": 7.946041478135157e-06, + "chamfer": 6.269694495131262e-06, + "track": 1.6763472103775712e-06, + "acceleration": 2.8890258363389876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.085697118076496e-06, + "observation_loss": 7.798967999406159e-06, + "chamfer": 6.173237579787383e-06, + "track": 1.6257307606792892e-06, + "acceleration": 2.86728663922986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.813512638676912e-06, + "observation_loss": 7.549992915301118e-06, + "chamfer": 6.003660928399768e-06, + "track": 1.546332100588188e-06, + "acceleration": 2.6351943915869924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4233066698070616e-06, + "observation_loss": 7.33371234673541e-06, + "chamfer": 5.841992788191419e-06, + "track": 1.4917194448571536e-06, + "acceleration": 8.959418096310401e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.197264039859874e-06, + "observation_loss": 7.147575161070563e-06, + "chamfer": 5.7023212320928e-06, + "track": 1.4452537016040878e-06, + "acceleration": 4.968892142187542e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.190500127762789e-06, + "observation_loss": 7.129874575184658e-06, + "chamfer": 5.685365522367647e-06, + "track": 1.4445092801906867e-06, + "acceleration": 6.062538204787415e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.248459951370023e-06, + "observation_loss": 7.168356660258723e-06, + "chamfer": 5.70460406379425e-06, + "track": 1.4637527101513115e-06, + "acceleration": 8.010311347561583e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.275510142790154e-06, + "observation_loss": 7.2315565375902224e-06, + "chamfer": 5.748435796704143e-06, + "track": 1.4831208545729169e-06, + "acceleration": 4.39537544139057e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.504018412873847e-06, + "observation_loss": 7.296042895177379e-06, + "chamfer": 5.782017524325056e-06, + "track": 1.5140255982259987e-06, + "acceleration": 2.0797571664843417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.864618055464234e-06, + "observation_loss": 7.362988981185481e-06, + "chamfer": 5.833979685121449e-06, + "track": 1.5290090686903568e-06, + "acceleration": 5.016294721826853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.511874511896167e-06, + "observation_loss": 7.491563337680418e-06, + "chamfer": 5.9168305597268045e-06, + "track": 1.5747326642667758e-06, + "acceleration": 1.0203108331552357e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.103654520004056e-06, + "observation_loss": 7.6400137913879e-06, + "chamfer": 6.033983027009526e-06, + "track": 1.6060312191257253e-06, + "acceleration": 1.4636403875556425e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.654587873024866e-06, + "observation_loss": 7.791477401042357e-06, + "chamfer": 6.1505488702096045e-06, + "track": 1.6409283034590771e-06, + "acceleration": 8.631101877654146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.502116543240845e-06, + "observation_loss": 8.136827091220766e-06, + "chamfer": 6.401888640539255e-06, + "track": 1.7349384506815113e-06, + "acceleration": 3.65288997272728e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.905343747755978e-06, + "observation_loss": 8.622650057077408e-06, + "chamfer": 6.735627721354831e-06, + "track": 1.887022222035739e-06, + "acceleration": 2.8269343488318555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.311976100434549e-06, + "observation_loss": 9.193716323352419e-06, + "chamfer": 7.124912372091785e-06, + "track": 2.068803496513283e-06, + "acceleration": 1.1825987655811332e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.595559276931453e-06, + "observation_loss": 9.506458809482865e-06, + "chamfer": 7.337501301662996e-06, + "track": 2.168957735193544e-06, + "acceleration": 8.910072324397333e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 9.99589519778965e-06, + "observation_loss": 9.720261004986241e-06, + "chamfer": 7.48466482036747e-06, + "track": 2.2355964119924465e-06, + "acceleration": 2.756341643816995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0095375728269573e-05, + "observation_loss": 9.92296827462269e-06, + "chamfer": 7.598257070640102e-06, + "track": 2.3247109766089125e-06, + "acceleration": 1.7240741101431922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0144823136215564e-05, + "observation_loss": 1.0028390533989295e-05, + "chamfer": 7.657617970835418e-06, + "track": 2.3707723357802024e-06, + "acceleration": 1.1643269459682415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0261020179314073e-05, + "observation_loss": 9.930614396580495e-06, + "chamfer": 7.593506779812742e-06, + "track": 2.337108071515104e-06, + "acceleration": 3.304057543118688e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0489110536582302e-05, + "observation_loss": 9.671910447650589e-06, + "chamfer": 7.434943199768895e-06, + "track": 2.2369672478816938e-06, + "acceleration": 8.172003731488076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0073566045321058e-05, + "observation_loss": 9.57876727625262e-06, + "chamfer": 7.365457349806093e-06, + "track": 2.2133099264465272e-06, + "acceleration": 4.947985416947631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.73492660705233e-06, + "observation_loss": 9.506308742857073e-06, + "chamfer": 7.314864433283219e-06, + "track": 2.191444536947529e-06, + "acceleration": 2.2861752313474426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.59904082264984e-06, + "observation_loss": 9.328016858489718e-06, + "chamfer": 7.1851345637696795e-06, + "track": 2.1428820673463633e-06, + "acceleration": 2.7102410626866913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.695893822936341e-06, + "observation_loss": 9.24537016544491e-06, + "chamfer": 7.11906659489614e-06, + "track": 2.1263033431750955e-06, + "acceleration": 4.5052348696117406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2785246326529887e-05, + "observation_loss": 9.36285505304113e-06, + "chamfer": 7.176571671152487e-06, + "track": 2.186283381888643e-06, + "acceleration": 3.4223912734887563e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2433843949111179e-05, + "observation_loss": 9.594894436304457e-06, + "chamfer": 7.329503660002956e-06, + "track": 2.265391231048852e-06, + "acceleration": 2.8389497401803965e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0388668670202605e-05, + "observation_loss": 9.544643944536801e-06, + "chamfer": 7.2995903792616446e-06, + "track": 2.2450537926488323e-06, + "acceleration": 8.440246119789663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.043835436576046e-05, + "observation_loss": 9.627336112316698e-06, + "chamfer": 7.344507139350753e-06, + "track": 2.28282920033962e-06, + "acceleration": 8.110181397569249e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0054161066364031e-05, + "observation_loss": 9.731348654895555e-06, + "chamfer": 7.409023510263069e-06, + "track": 2.3223251446324866e-06, + "acceleration": 3.228119851428346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0054353879240807e-05, + "observation_loss": 9.8720847745426e-06, + "chamfer": 7.482311048079282e-06, + "track": 2.3897734990896424e-06, + "acceleration": 1.822693604935921e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.022588912746869e-05, + "observation_loss": 1.0029815712186974e-05, + "chamfer": 7.559694040537579e-06, + "track": 2.47012189902307e-06, + "acceleration": 1.960730173777847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0351803211960942e-05, + "observation_loss": 1.0256660061713774e-05, + "chamfer": 7.707165423198603e-06, + "track": 2.5494946385151707e-06, + "acceleration": 9.514337051541588e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0669136827345937e-05, + "observation_loss": 1.0578401997918263e-05, + "chamfer": 7.928788363642525e-06, + "track": 2.649613634275738e-06, + "acceleration": 9.073522022617908e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0922049114014953e-05, + "observation_loss": 1.0800503332575317e-05, + "chamfer": 8.078463906713296e-06, + "track": 2.7220394258620217e-06, + "acceleration": 1.2154548301168688e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.1007940884155687e-05, + "observation_loss": 1.0883910363190807e-05, + "chamfer": 8.118917321553454e-06, + "track": 2.7649925868900027e-06, + "acceleration": 1.2403042148889654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1104285476903897e-05, + "observation_loss": 1.0954840945487376e-05, + "chamfer": 8.162658559740521e-06, + "track": 2.7921826131205307e-06, + "acceleration": 1.4944441772968275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1211394848942291e-05, + "observation_loss": 1.1052000445488375e-05, + "chamfer": 8.216739843192045e-06, + "track": 2.8352603749226546e-06, + "acceleration": 1.593944887190446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1158970664837398e-05, + "observation_loss": 1.1061083569074981e-05, + "chamfer": 8.211653039325029e-06, + "track": 2.8494305297499523e-06, + "acceleration": 9.788693944301485e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1317333701299503e-05, + "observation_loss": 1.1054982678615488e-05, + "chamfer": 8.20603145257337e-06, + "track": 2.848951226042118e-06, + "acceleration": 2.6235130690110964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1266676665400155e-05, + "observation_loss": 1.1130357961519621e-05, + "chamfer": 8.247405276051722e-06, + "track": 2.8829524580942234e-06, + "acceleration": 1.3631832018745627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1303700375719927e-05, + "observation_loss": 1.1207714123884216e-05, + "chamfer": 8.281775080831721e-06, + "track": 2.925938815678819e-06, + "acceleration": 9.59866710559254e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.135906859417446e-05, + "observation_loss": 1.126943425333593e-05, + "chamfer": 8.319996595673729e-06, + "track": 2.9494372029148508e-06, + "acceleration": 8.963471032075176e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1430226550146472e-05, + "observation_loss": 1.1349437045282684e-05, + "chamfer": 8.362561857211404e-06, + "track": 2.9868751880712807e-06, + "acceleration": 8.078917090870164e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1410810657253023e-05, + "observation_loss": 1.130403506977018e-05, + "chamfer": 8.337803592439741e-06, + "track": 2.9662317047041142e-06, + "acceleration": 1.0677550221771526e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1240221283514984e-05, + "observation_loss": 1.1147390068799723e-05, + "chamfer": 8.239160706580151e-06, + "track": 2.908229362219572e-06, + "acceleration": 9.283095181444878e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.237894533635881e-06, + "chamfer_mean": 5.636199008544433e-06, + "track_mean": 1.535701523576923e-06, + "acceleration_mean": 1.0659939683188568e-06, + "observation_score": 7.171900520575036e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4294619969987252 + }, + "score_arrays_file": "pass_scores/pass_end_0317.npz", + "score_arrays_sha256": "875eae44e4fde2a9be9276aae072164cfa0774c76842e497911f92073e1d1584" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0318.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0318.json new file mode 100644 index 0000000000000000000000000000000000000000..db2b36aaffb4974f8dd7fd0f08bec54610ce7dd9 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0318.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30528, + "completed_passes": 318, + "snapshot": "pass_end_0318", + "candidate": true, + "snapshot_arrays_sha256": "dd7021a855a9f1dde51147b2a799d215a49b2900b214baf1ba53f6b5fde33179", + "score": 7.1696468211257525e-06, + "score_result": { + "score": 7.1696468211257525e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8723884497594554e-06, + 3.156345201205113e-06, + 3.2614354950055713e-06, + 3.6954243114450946e-06, + 4.2136489355470985e-06, + 4.4296839405433275e-06, + 4.18472200180986e-06, + 4.037144208268728e-06, + 3.979511802754132e-06, + 4.083983640157385e-06, + 4.463210643734783e-06, + 4.923164851788897e-06, + 5.232086550677195e-06, + 5.440040695248172e-06, + 5.4363167691917624e-06, + 5.325626261765137e-06, + 4.966585493093589e-06, + 4.579074811772443e-06, + 4.398037162900437e-06, + 4.383466148283333e-06, + 4.338820417615352e-06, + 4.222722509439336e-06, + 4.153273948759306e-06, + 4.1525918277329765e-06, + 4.184746103419457e-06, + 4.372478542791214e-06, + 4.774028639076278e-06, + 5.0297644520469476e-06, + 5.02374314237386e-06, + 4.975205229129642e-06, + 5.100295311422087e-06, + 5.319567662809277e-06, + 5.570396297116531e-06, + 5.8046534832101315e-06, + 5.879334821656812e-06, + 5.988912562315818e-06, + 6.2360986703424715e-06, + 6.3578359004168306e-06, + 6.054591267456999e-06, + 5.62099694434437e-06, + 5.543171027966309e-06, + 5.8149871620116755e-06, + 6.006470812280895e-06, + 6.189646228449419e-06, + 6.268080596782966e-06, + 6.323709385469556e-06, + 6.467293133027852e-06, + 6.933382792340126e-06, + 7.55129167373525e-06, + 7.94255447544856e-06, + 7.796110367053188e-06, + 7.548201210738625e-06, + 7.332904715440236e-06, + 7.147414180508349e-06, + 7.129737696232041e-06, + 7.168253432610072e-06, + 7.231526979012415e-06, + 7.296716830751393e-06, + 7.363994427578291e-06, + 7.493452358176e-06, + 7.64271680964157e-06, + 7.79508536652429e-06, + 8.141299076669384e-06, + 8.628208888694644e-06, + 9.200157364830375e-06, + 9.514056728221476e-06, + 9.729004887049086e-06, + 9.932469765772112e-06, + 1.003816578304395e-05, + 9.93999947240809e-06, + 9.680691618996207e-06, + 9.587136446498334e-06, + 9.514146768196952e-06, + 9.334277820016723e-06, + 9.248946298612282e-06, + 9.362424862047192e-06, + 9.593491995474324e-06, + 9.545508873998187e-06, + 9.625309758121148e-06, + 9.727204997034278e-06, + 9.865998435998335e-06, + 1.0021423804573715e-05, + 1.0245713383483235e-05, + 1.0566292075964157e-05, + 1.0786822713271249e-05, + 1.0869567631743848e-05, + 1.0940225365629885e-05, + 1.1037119293177966e-05, + 1.1046861800423358e-05, + 1.1039699529646896e-05, + 1.1115596862509847e-05, + 1.1192478268640116e-05, + 1.1253797310928348e-05, + 1.133339355874341e-05, + 1.1288207133475225e-05, + 1.1131739483971614e-05 + ] + ], + "episode_mean_losses": [ + 7.1696468211257525e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8723884497594554e-06, + "observation_loss": 2.8723884497594554e-06, + "chamfer": 2.4365074295928935e-06, + "track": 4.358810770099808e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146356150158681e-05, + "observation_loss": 3.156345201205113e-06, + "chamfer": 2.6694326606957475e-06, + "track": 4.869125973527844e-07, + "acceleration": 3.830721470876597e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3161615899880417e-05, + "observation_loss": 3.2614354950055713e-06, + "chamfer": 2.7615835733740823e-06, + "track": 4.998519784749078e-07, + "acceleration": 1.990018063224852e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0124110303877387e-05, + "observation_loss": 3.6954243114450946e-06, + "chamfer": 3.1166564440354705e-06, + "track": 5.787678105662053e-07, + "acceleration": 6.4286859924322926e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.8705650189949665e-06, + "observation_loss": 4.2136489355470985e-06, + "chamfer": 3.534477400535252e-06, + "track": 6.7917136448159e-07, + "acceleration": 1.6569161971347057e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.538571258512093e-06, + "observation_loss": 4.4296839405433275e-06, + "chamfer": 3.706702045747079e-06, + "track": 7.229819516396674e-07, + "acceleration": 1.1088872042819276e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.837229425902478e-06, + "observation_loss": 4.18472200180986e-06, + "chamfer": 3.507012024783762e-06, + "track": 6.777099201826786e-07, + "acceleration": 6.525073672491999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.590115622704616e-06, + "observation_loss": 4.037144208268728e-06, + "chamfer": 3.3889079986693105e-06, + "track": 6.482359822257422e-07, + "acceleration": 5.529714144358877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4475036702351645e-06, + "observation_loss": 3.979511802754132e-06, + "chamfer": 3.345297955092974e-06, + "track": 6.342136771309015e-07, + "acceleration": 4.6799175379419466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.386902674013982e-06, + "observation_loss": 4.083983640157385e-06, + "chamfer": 3.431056029512547e-06, + "track": 6.52927553801419e-07, + "acceleration": 3.0291889174804965e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.596456165018026e-06, + "observation_loss": 4.463210643734783e-06, + "chamfer": 3.739703288374585e-06, + "track": 7.235075258904544e-07, + "acceleration": 1.3324550707238814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.013372629036894e-06, + "observation_loss": 4.923164851788897e-06, + "chamfer": 4.108979737793561e-06, + "track": 8.141849434650794e-07, + "acceleration": 9.020774882628757e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3220610425341874e-06, + "observation_loss": 5.232086550677195e-06, + "chamfer": 4.362953404779546e-06, + "track": 8.691330890542304e-07, + "acceleration": 8.997455580583846e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.543696261156583e-06, + "observation_loss": 5.440040695248172e-06, + "chamfer": 4.539989276963752e-06, + "track": 9.000516456580954e-07, + "acceleration": 1.0365562275183038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.495952336787013e-06, + "observation_loss": 5.4363167691917624e-06, + "chamfer": 4.540694590104977e-06, + "track": 8.956223496170423e-07, + "acceleration": 5.963574523093484e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.446976047096541e-06, + "observation_loss": 5.325626261765137e-06, + "chamfer": 4.450325832294766e-06, + "track": 8.753004863137903e-07, + "acceleration": 1.213498421748227e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.1702832024602685e-06, + "observation_loss": 4.966585493093589e-06, + "chamfer": 4.155878741585184e-06, + "track": 8.10706922038662e-07, + "acceleration": 2.0369758146898675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.886280294158496e-06, + "observation_loss": 4.579074811772443e-06, + "chamfer": 3.835862571577309e-06, + "track": 7.432122401951347e-07, + "acceleration": 3.0720562449459976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.5629567466676235e-06, + "observation_loss": 4.398037162900437e-06, + "chamfer": 3.683501063278527e-06, + "track": 7.145362701521663e-07, + "acceleration": 1.6491978271915286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.576045284920838e-06, + "observation_loss": 4.383466148283333e-06, + "chamfer": 3.6674227885669097e-06, + "track": 7.160435870900983e-07, + "acceleration": 1.925793640111806e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.624525445251493e-06, + "observation_loss": 4.338820417615352e-06, + "chamfer": 3.6291203286964446e-06, + "track": 7.09699918388651e-07, + "acceleration": 2.8570519816639717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.498140697251074e-06, + "observation_loss": 4.222722509439336e-06, + "chamfer": 3.534002871674602e-06, + "track": 6.887197514515719e-07, + "acceleration": 2.7541804570319073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.640586212190101e-06, + "observation_loss": 4.153273948759306e-06, + "chamfer": 3.482009788058349e-06, + "track": 6.71264274387795e-07, + "acceleration": 4.873123202742136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.953685674990993e-06, + "observation_loss": 4.1525918277329765e-06, + "chamfer": 3.47765762853669e-06, + "track": 6.749341423528676e-07, + "acceleration": 8.010939041014353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.810070549865486e-06, + "observation_loss": 4.184746103419457e-06, + "chamfer": 3.4876088648161385e-06, + "track": 6.971370680730615e-07, + "acceleration": 6.253243327591917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.741545581055107e-06, + "observation_loss": 4.372478542791214e-06, + "chamfer": 3.6248602555133402e-06, + "track": 7.476182304344547e-07, + "acceleration": 3.6906712352902105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.084184522274882e-06, + "observation_loss": 4.774028639076278e-06, + "chamfer": 3.92880156141473e-06, + "track": 8.452273050352233e-07, + "acceleration": 3.10155684246638e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.238767244009068e-06, + "observation_loss": 5.0297644520469476e-06, + "chamfer": 4.123983671888709e-06, + "track": 9.057806096279819e-07, + "acceleration": 2.0900260722100938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.342218173609581e-06, + "observation_loss": 5.02374314237386e-06, + "chamfer": 4.123934559174813e-06, + "track": 8.998084695122088e-07, + "acceleration": 3.1847491754888324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.211483767197933e-06, + "observation_loss": 4.975205229129642e-06, + "chamfer": 4.096204520465108e-06, + "track": 8.790006518211158e-07, + "acceleration": 2.362787370202568e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3653179747925606e-06, + "observation_loss": 5.100295311422087e-06, + "chamfer": 4.204399374430068e-06, + "track": 8.958957664617628e-07, + "acceleration": 2.650226349487639e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.734730166295776e-06, + "observation_loss": 5.319567662809277e-06, + "chamfer": 4.379906840767944e-06, + "track": 9.396607651979139e-07, + "acceleration": 4.1516244664308033e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.286155894486001e-06, + "observation_loss": 5.570396297116531e-06, + "chamfer": 4.580153472488746e-06, + "track": 9.902427109409473e-07, + "acceleration": 7.15759483682632e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.264521173055982e-06, + "observation_loss": 5.8046534832101315e-06, + "chamfer": 4.756182079290738e-06, + "track": 1.0484712902325555e-06, + "acceleration": 1.4598676898458507e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.1941785790841095e-06, + "observation_loss": 5.879334821656812e-06, + "chamfer": 4.811101916857297e-06, + "track": 1.0682329047995154e-06, + "acceleration": 1.314843530053622e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.7397554630588274e-06, + "observation_loss": 5.988912562315818e-06, + "chamfer": 4.876375442108838e-06, + "track": 1.1125372338938178e-06, + "acceleration": 7.508430144298472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.949919225007761e-06, + "observation_loss": 6.2360986703424715e-06, + "chamfer": 5.04631998410332e-06, + "track": 1.1897789136128267e-06, + "acceleration": 7.138203841350332e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.961831331864232e-06, + "observation_loss": 6.3578359004168306e-06, + "chamfer": 5.145546765561448e-06, + "track": 1.2122891348553821e-06, + "acceleration": 6.039954314474016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.467342245741747e-06, + "observation_loss": 6.054591267456999e-06, + "chamfer": 4.9278892220172565e-06, + "track": 1.1267019317529048e-06, + "acceleration": 4.127509214413294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8379778238304425e-06, + "observation_loss": 5.62099694434437e-06, + "chamfer": 4.592113782564411e-06, + "track": 1.0288831617799588e-06, + "acceleration": 2.169809647512011e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.843748567713192e-06, + "observation_loss": 5.543171027966309e-06, + "chamfer": 4.529146735876566e-06, + "track": 1.014024064716068e-06, + "acceleration": 3.005776250120107e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.065193247195566e-06, + "observation_loss": 5.8149871620116755e-06, + "chamfer": 4.7264256863854825e-06, + "track": 1.0885612482525175e-06, + "acceleration": 2.5020599991876225e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.1186024140624795e-06, + "observation_loss": 6.006470812280895e-06, + "chamfer": 4.856522082263837e-06, + "track": 1.1499488437038963e-06, + "acceleration": 1.1213181494440505e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2403360061580315e-06, + "observation_loss": 6.189646228449419e-06, + "chamfer": 4.990416982764145e-06, + "track": 1.1992293593721115e-06, + "acceleration": 5.0689681785343055e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.3470538407273125e-06, + "observation_loss": 6.268080596782966e-06, + "chamfer": 5.045917077950435e-06, + "track": 1.2221636325193685e-06, + "acceleration": 7.897310183579975e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.463202225859277e-06, + "observation_loss": 6.323709385469556e-06, + "chamfer": 5.087676072434988e-06, + "track": 1.236033313034568e-06, + "acceleration": 1.3949262722690037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.663896783720702e-06, + "observation_loss": 6.467293133027852e-06, + "chamfer": 5.200767191126943e-06, + "track": 1.2665261692745844e-06, + "acceleration": 1.9660345174088434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.0988962761475705e-06, + "observation_loss": 6.933382792340126e-06, + "chamfer": 5.5502709983557e-06, + "track": 1.3831116802975885e-06, + "acceleration": 1.6551364012684644e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.700094101892319e-06, + "observation_loss": 7.55129167373525e-06, + "chamfer": 5.9849689932889305e-06, + "track": 1.566322794133157e-06, + "acceleration": 1.488023571027952e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.231453648477327e-06, + "observation_loss": 7.94255447544856e-06, + "chamfer": 6.267214757826878e-06, + "track": 1.6753397176216822e-06, + "acceleration": 2.8889874670312565e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.083899956545793e-06, + "observation_loss": 7.796110367053188e-06, + "chamfer": 6.171302629809361e-06, + "track": 1.6248077372438274e-06, + "acceleration": 2.8778970317944186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.812112016836181e-06, + "observation_loss": 7.548201210738625e-06, + "chamfer": 6.002462669130182e-06, + "track": 1.5457386552952812e-06, + "acceleration": 2.6391111873635964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.422629096254241e-06, + "observation_loss": 7.332904715440236e-06, + "chamfer": 5.841468919243198e-06, + "track": 1.4914356825102004e-06, + "acceleration": 8.972450871169713e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.197043942142045e-06, + "observation_loss": 7.147414180508349e-06, + "chamfer": 5.702284397557378e-06, + "track": 1.4451297829509713e-06, + "acceleration": 4.962985755696536e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1900449256645516e-06, + "observation_loss": 7.129737696232041e-06, + "chamfer": 5.685334599547787e-06, + "track": 1.444402982997417e-06, + "acceleration": 6.030705179682627e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.248464953590883e-06, + "observation_loss": 7.168253432610072e-06, + "chamfer": 5.704573140974389e-06, + "track": 1.463680177948845e-06, + "acceleration": 8.021140018854567e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.275639291037805e-06, + "observation_loss": 7.231526979012415e-06, + "chamfer": 5.748453077103477e-06, + "track": 1.4830736745352624e-06, + "acceleration": 4.411221254940756e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.503647793782875e-06, + "observation_loss": 7.296716830751393e-06, + "chamfer": 5.782590960734524e-06, + "track": 1.5141260973905446e-06, + "acceleration": 2.0693093460977252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.865124644013122e-06, + "observation_loss": 7.363994427578291e-06, + "chamfer": 5.83480095883715e-06, + "track": 1.529193582427979e-06, + "acceleration": 5.011304438085062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.514721230312716e-06, + "observation_loss": 7.493452358176e-06, + "chamfer": 5.918357601331081e-06, + "track": 1.5750946431580815e-06, + "acceleration": 1.021268758449878e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.109286111197434e-06, + "observation_loss": 7.64271680964157e-06, + "chamfer": 6.03605212745606e-06, + "track": 1.6066642274381593e-06, + "acceleration": 1.46656952892954e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.659802915644832e-06, + "observation_loss": 7.79508536652429e-06, + "chamfer": 6.153315553092398e-06, + "track": 1.641769586058217e-06, + "acceleration": 8.647178901810548e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.507374332111795e-06, + "observation_loss": 8.141299076669384e-06, + "chamfer": 6.405229214578867e-06, + "track": 1.7360699757773546e-06, + "acceleration": 3.660748575384787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.911461918614805e-06, + "observation_loss": 8.628208888694644e-06, + "chamfer": 6.7397159000393e-06, + "track": 1.8884927612816682e-06, + "acceleration": 2.8325300149845134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.318637239630334e-06, + "observation_loss": 9.200157364830375e-06, + "chamfer": 7.1295648922387045e-06, + "track": 2.0705924725916702e-06, + "acceleration": 1.1847984637824993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.603369107935578e-06, + "observation_loss": 9.514056728221476e-06, + "chamfer": 7.3429841904726345e-06, + "track": 2.171072765122517e-06, + "acceleration": 8.931281314517037e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.00053593996563e-05, + "observation_loss": 9.729004887049086e-06, + "chamfer": 7.491091764677549e-06, + "track": 2.2379131223715376e-06, + "acceleration": 2.7635491051114514e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0105104593094438e-05, + "observation_loss": 9.932469765772112e-06, + "chamfer": 7.605261089338455e-06, + "track": 2.327208903807332e-06, + "acceleration": 1.726352110154039e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.015473753795959e-05, + "observation_loss": 1.003816578304395e-05, + "chamfer": 7.664774784643669e-06, + "track": 2.3733905436529312e-06, + "acceleration": 1.1657184728619541e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0271214705426246e-05, + "observation_loss": 9.93999947240809e-06, + "chamfer": 7.600317076139618e-06, + "track": 2.3396821688947966e-06, + "acceleration": 3.3121497722277127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0499960808374453e-05, + "observation_loss": 9.680691618996207e-06, + "chamfer": 7.4412987487448845e-06, + "track": 2.2393930976249976e-06, + "acceleration": 8.192689620045712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0082514563691802e-05, + "observation_loss": 9.587136446498334e-06, + "chamfer": 7.371493211394409e-06, + "track": 2.215642780356575e-06, + "acceleration": 4.953780035066302e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.743118425831199e-06, + "observation_loss": 9.514146768196952e-06, + "chamfer": 7.320461008930579e-06, + "track": 2.1936859866400482e-06, + "acceleration": 2.2897134499544336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.605206287233159e-06, + "observation_loss": 9.334277820016723e-06, + "chamfer": 7.1895005930855405e-06, + "track": 2.144777454304858e-06, + "acceleration": 2.7092841037301696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.700968803372234e-06, + "observation_loss": 9.248946298612282e-06, + "chamfer": 7.121791895770002e-06, + "track": 2.1271548575896304e-06, + "acceleration": 4.520225616033713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.280552169191651e-05, + "observation_loss": 9.362424862047192e-06, + "chamfer": 7.175956852734089e-06, + "track": 2.186468009313103e-06, + "acceleration": 3.4430966024956433e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2405614143062849e-05, + "observation_loss": 9.593491995474324e-06, + "chamfer": 7.328287210839335e-06, + "track": 2.265205012008664e-06, + "acceleration": 2.812122147588525e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0401027793704998e-05, + "observation_loss": 9.545508873998187e-06, + "chamfer": 7.300341167137958e-06, + "track": 2.245167934233905e-06, + "acceleration": 8.555190902370668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0430358997837175e-05, + "observation_loss": 9.625309758121148e-06, + "chamfer": 7.342810022237245e-06, + "track": 2.2825001906312536e-06, + "acceleration": 8.050491260291892e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0045117960544303e-05, + "observation_loss": 9.727204997034278e-06, + "chamfer": 7.406106306007132e-06, + "track": 2.3210989184008213e-06, + "acceleration": 3.1791282140147814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0058874067908619e-05, + "observation_loss": 9.865998435998335e-06, + "chamfer": 7.47857529859175e-06, + "track": 2.3874229100329103e-06, + "acceleration": 1.9287554664515483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0227085113001522e-05, + "observation_loss": 1.0021423804573715e-05, + "chamfer": 7.554434887424577e-06, + "track": 2.466989144522813e-06, + "acceleration": 2.0566157843404653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0343465874029789e-05, + "observation_loss": 1.0245713383483235e-05, + "chamfer": 7.700156857026741e-06, + "track": 2.5455567538301693e-06, + "acceleration": 9.775245501941754e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0657880920916796e-05, + "observation_loss": 1.0566292075964157e-05, + "chamfer": 7.921294127299916e-06, + "track": 2.6449979486642405e-06, + "acceleration": 9.158881653092976e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0909650882240385e-05, + "observation_loss": 1.0786822713271249e-05, + "chamfer": 8.069800060184207e-06, + "track": 2.7170228804607177e-06, + "acceleration": 1.22827756854349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0994880540238228e-05, + "observation_loss": 1.0869567631743848e-05, + "chamfer": 8.10993333288934e-06, + "track": 2.759634071480832e-06, + "acceleration": 1.2531300797036238e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1090819498349447e-05, + "observation_loss": 1.0940225365629885e-05, + "chamfer": 8.153371709340718e-06, + "track": 2.786853883662843e-06, + "acceleration": 1.5059383429161244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1197636922588572e-05, + "observation_loss": 1.1037119293177966e-05, + "chamfer": 8.207300197682343e-06, + "track": 2.829818868121947e-06, + "acceleration": 1.6051779994086246e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1146088581881486e-05, + "observation_loss": 1.1046861800423358e-05, + "chamfer": 8.202827302739024e-06, + "track": 2.844034725058009e-06, + "acceleration": 9.922644039761508e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.130389682657551e-05, + "observation_loss": 1.1039699529646896e-05, + "chamfer": 8.196337148547173e-06, + "track": 2.8433623810997233e-06, + "acceleration": 2.641972116634861e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1253091543039773e-05, + "observation_loss": 1.1115596862509847e-05, + "chamfer": 8.238379450631328e-06, + "track": 2.877217639252194e-06, + "acceleration": 1.374946947407807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1288981113466434e-05, + "observation_loss": 1.1192478268640116e-05, + "chamfer": 8.272580998891499e-06, + "track": 2.9198970423749415e-06, + "acceleration": 9.650262455807024e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.134347894549137e-05, + "observation_loss": 1.1253797310928348e-05, + "chamfer": 8.310652447107714e-06, + "track": 2.9431446364469593e-06, + "acceleration": 8.968142850562799e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1414077562221792e-05, + "observation_loss": 1.133339355874341e-05, + "chamfer": 8.353023986273911e-06, + "track": 2.9803697998431744e-06, + "acceleration": 8.068400347838178e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1394741704862099e-05, + "observation_loss": 1.1288207133475225e-05, + "chamfer": 8.328500371135306e-06, + "track": 2.95970676233992e-06, + "acceleration": 1.065346921791388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1224453373870347e-05, + "observation_loss": 1.1131739483971614e-05, + "chamfer": 8.229876584664453e-06, + "track": 2.9018628993071616e-06, + "acceleration": 9.271359857621064e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.239106743227845e-06, + "chamfer_mean": 5.634744496774147e-06, + "track_mean": 1.5349023350097468e-06, + "acceleration_mean": 1.0694598894615364e-06, + "observation_score": 7.1696468211257525e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4162930709990178 + }, + "score_arrays_file": "pass_scores/pass_end_0318.npz", + "score_arrays_sha256": "630cb40da924904e746b8c1f4a2f5bcd058a6f3f7ffdc17ebe7a6f3a85a70319" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0319.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0319.json new file mode 100644 index 0000000000000000000000000000000000000000..15e8e6f8f972ccfdeb1fa974879fa1eef6b7477c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0319.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30624, + "completed_passes": 319, + "snapshot": "pass_end_0319", + "candidate": true, + "snapshot_arrays_sha256": "90f82981d5175ac2916062943ff43bee002ca3832bdd49b67c5e6ee4f83c5406", + "score": 7.16632485620039e-06, + "score_result": { + "score": 7.16632485620039e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872356844818569e-06, + 3.1561428386339685e-06, + 3.259971208535717e-06, + 3.6940186873835046e-06, + 4.212047770124627e-06, + 4.42838745584595e-06, + 4.183235432719812e-06, + 4.034840458189137e-06, + 3.977350388595369e-06, + 4.0815734791976865e-06, + 4.460882337298244e-06, + 4.920388164464384e-06, + 5.229263479122892e-06, + 5.4368974815588444e-06, + 5.433147634903435e-06, + 5.322522611095337e-06, + 4.9637687880021986e-06, + 4.5764186324959155e-06, + 4.395648829813581e-06, + 4.381349299364956e-06, + 4.3367563193896785e-06, + 4.21937465944211e-06, + 4.149025244259974e-06, + 4.149008418607991e-06, + 4.182326847512741e-06, + 4.370791430119425e-06, + 4.772733973368304e-06, + 5.025569862482371e-06, + 5.018290721636731e-06, + 4.969962446921272e-06, + 5.097979737911373e-06, + 5.319840056472458e-06, + 5.5742834774719086e-06, + 5.809458343719598e-06, + 5.8836903917836025e-06, + 5.991166744934162e-06, + 6.238053629203932e-06, + 6.360452971421182e-06, + 6.057526661606971e-06, + 5.6221833801828325e-06, + 5.539930498343892e-06, + 5.810019501950592e-06, + 6.002182090014685e-06, + 6.184924586705165e-06, + 6.2626254475617316e-06, + 6.318789928627666e-06, + 6.463101726694731e-06, + 6.928532911842922e-06, + 7.545076186943334e-06, + 7.936001566122286e-06, + 7.78999674366787e-06, + 7.542941148130922e-06, + 7.327986168093048e-06, + 7.142719823605148e-06, + 7.125704541977029e-06, + 7.164582711993717e-06, + 7.228299637063174e-06, + 7.293717317224946e-06, + 7.36126503397827e-06, + 7.4907802627421916e-06, + 7.640286639798433e-06, + 7.79255606175866e-06, + 8.138331395457499e-06, + 8.62550859892508e-06, + 9.198111001751386e-06, + 9.512680662737694e-06, + 9.72842735791346e-06, + 9.932610737450887e-06, + 1.0038868822448421e-05, + 9.940899872162845e-06, + 9.681795745564159e-06, + 9.588142347638495e-06, + 9.514415069133975e-06, + 9.33327555685537e-06, + 9.246468835044652e-06, + 9.357787348562852e-06, + 9.590259651304223e-06, + 9.545572538627312e-06, + 9.623168807593174e-06, + 9.723676157591399e-06, + 9.861882972472813e-06, + 1.001552209345391e-05, + 1.0238306458631996e-05, + 1.0558197573118377e-05, + 1.0777581337606534e-05, + 1.0859907888516318e-05, + 1.093037826649379e-05, + 1.1026949323422741e-05, + 1.103668000723701e-05, + 1.1028813787561376e-05, + 1.1105223165941425e-05, + 1.11821591417538e-05, + 1.1243251719861291e-05, + 1.1322614227537997e-05, + 1.1277512385277078e-05, + 1.112149766413495e-05 + ] + ], + "episode_mean_losses": [ + 7.16632485620039e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872356844818569e-06, + "observation_loss": 2.872356844818569e-06, + "chamfer": 2.4364705950574717e-06, + "track": 4.358862213393877e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146810169913806e-05, + "observation_loss": 3.1561428386339685e-06, + "chamfer": 2.669258037713007e-06, + "track": 4.868848009209614e-07, + "acceleration": 3.8311958633130416e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3157679606811143e-05, + "observation_loss": 3.259971208535717e-06, + "chamfer": 2.760368033705163e-06, + "track": 4.996031179871352e-07, + "acceleration": 1.9897708625649102e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0122124876943417e-05, + "observation_loss": 3.6940186873835046e-06, + "chamfer": 3.1154884254647186e-06, + "track": 5.785302050753671e-07, + "acceleration": 6.428106644307263e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.859523298568092e-06, + "observation_loss": 4.212047770124627e-06, + "chamfer": 3.533162725943839e-06, + "track": 6.788851578676258e-07, + "acceleration": 1.6474754147566273e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5345867622236256e-06, + "observation_loss": 4.42838745584595e-06, + "chamfer": 3.705624749272829e-06, + "track": 7.22762820259959e-07, + "acceleration": 1.1061991926908377e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.833500497625209e-06, + "observation_loss": 4.183235432719812e-06, + "chamfer": 3.505766926537035e-06, + "track": 6.774686767130333e-07, + "acceleration": 6.502650649053976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.589165655488614e-06, + "observation_loss": 4.034840458189137e-06, + "chamfer": 3.3869807793962536e-06, + "track": 6.478599061665591e-07, + "acceleration": 5.543250267692201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.445711965672672e-06, + "observation_loss": 3.977350388595369e-06, + "chamfer": 3.34349283548363e-06, + "track": 6.338574962683197e-07, + "acceleration": 4.6836163392072194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.3840309444931336e-06, + "observation_loss": 4.0815734791976865e-06, + "chamfer": 3.4290499115741113e-06, + "track": 6.525234539367375e-07, + "acceleration": 3.024572379217716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.593990524881519e-06, + "observation_loss": 4.460882337298244e-06, + "chamfer": 3.737790393643081e-06, + "track": 7.230918868117442e-07, + "acceleration": 1.3310827284840343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.010849235986825e-06, + "observation_loss": 4.920388164464384e-06, + "chamfer": 4.10672191719641e-06, + "track": 8.136663609548123e-07, + "acceleration": 9.046102888987662e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.319319825503044e-06, + "observation_loss": 5.229263479122892e-06, + "chamfer": 4.360670573078096e-06, + "track": 8.685928492013772e-07, + "acceleration": 9.005652401583575e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.5406112551281694e-06, + "observation_loss": 5.4368974815588444e-06, + "chamfer": 4.537459972198121e-06, + "track": 8.994374525173043e-07, + "acceleration": 1.0371356751193161e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.492812761076493e-06, + "observation_loss": 5.433147634903435e-06, + "chamfer": 4.5381357267615385e-06, + "track": 8.950117944550584e-07, + "acceleration": 5.966527538703303e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.444039288704516e-06, + "observation_loss": 5.322522611095337e-06, + "chamfer": 4.447808805707609e-06, + "track": 8.747139190745656e-07, + "acceleration": 1.215168907719999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.167279596207663e-06, + "observation_loss": 4.9637687880021986e-06, + "chamfer": 4.153587269684067e-06, + "track": 8.101816320049693e-07, + "acceleration": 2.0351073715119128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.883591827820055e-06, + "observation_loss": 4.5764186324959155e-06, + "chamfer": 3.833710252365563e-06, + "track": 7.427082664435147e-07, + "acceleration": 3.071731100590114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.560512479656609e-06, + "observation_loss": 4.395648829813581e-06, + "chamfer": 3.681524049170548e-06, + "track": 7.141245532693574e-07, + "acceleration": 1.6486374931901082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.572867510432843e-06, + "observation_loss": 4.381349299364956e-06, + "chamfer": 3.6656620068242773e-06, + "track": 7.15687178853841e-07, + "acceleration": 1.9151842423070775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.622770120477071e-06, + "observation_loss": 4.3367563193896785e-06, + "chamfer": 3.62742503057234e-06, + "track": 7.093312319739198e-07, + "acceleration": 2.860138010873925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.495205757848453e-06, + "observation_loss": 4.21937465944211e-06, + "chamfer": 3.5312541513121687e-06, + "track": 6.881205081299413e-07, + "acceleration": 2.7583095629779564e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.64667482447112e-06, + "observation_loss": 4.149025244259974e-06, + "chamfer": 3.4784934541676193e-06, + "track": 6.705317332489358e-07, + "acceleration": 4.976497507414024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.97075643579592e-06, + "observation_loss": 4.149008418607991e-06, + "chamfer": 3.474692448435235e-06, + "track": 6.743161975464318e-07, + "acceleration": 8.217481877181854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.820870344701689e-06, + "observation_loss": 4.182326847512741e-06, + "chamfer": 3.4855706871894654e-06, + "track": 6.967560466364375e-07, + "acceleration": 6.385433266586915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.742277724290034e-06, + "observation_loss": 4.370791430119425e-06, + "chamfer": 3.6234803246770753e-06, + "track": 7.473113328160252e-07, + "acceleration": 3.714862373271899e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.080578375782352e-06, + "observation_loss": 4.772733973368304e-06, + "chamfer": 3.927787929569604e-06, + "track": 8.449462143289566e-07, + "acceleration": 3.0784417504037265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.235683147475356e-06, + "observation_loss": 5.025569862482371e-06, + "chamfer": 4.12071130995173e-06, + "track": 9.048585525306407e-07, + "acceleration": 2.1011331341469486e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.341593350749463e-06, + "observation_loss": 5.018290721636731e-06, + "chamfer": 4.119553977943724e-06, + "track": 8.987365731627506e-07, + "acceleration": 3.2330262911273167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.215093096921919e-06, + "observation_loss": 4.969962446921272e-06, + "chamfer": 4.0919794628280215e-06, + "track": 8.77982870406413e-07, + "acceleration": 2.45130735265775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.364130174712045e-06, + "observation_loss": 5.097979737911373e-06, + "chamfer": 4.202549916954013e-06, + "track": 8.954297641139419e-07, + "acceleration": 2.661503799572529e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.737491392210359e-06, + "observation_loss": 5.319840056472458e-06, + "chamfer": 4.38012011727551e-06, + "track": 9.397198823535291e-07, + "acceleration": 4.1765139258131967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.30402792012319e-06, + "observation_loss": 5.5742834774719086e-06, + "chamfer": 4.583308509609196e-06, + "track": 9.909749678627122e-07, + "acceleration": 7.297442721210246e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.3026712925639e-06, + "observation_loss": 5.809458343719598e-06, + "chamfer": 4.760233878187137e-06, + "track": 1.0492246929061366e-06, + "acceleration": 1.4932129488443024e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.250968792504864e-06, + "observation_loss": 5.8836903917836025e-06, + "chamfer": 4.814761723537231e-06, + "track": 1.0689287819332094e-06, + "acceleration": 1.367278514408099e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.785700861655641e-06, + "observation_loss": 5.991166744934162e-06, + "chamfer": 4.878437721345108e-06, + "track": 1.1127291372758918e-06, + "acceleration": 7.945340030346415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.983645107538905e-06, + "observation_loss": 6.238053629203932e-06, + "chamfer": 5.047967079008231e-06, + "track": 1.1900864365088637e-06, + "acceleration": 7.455914783349726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.008116426732158e-06, + "observation_loss": 6.360452971421182e-06, + "chamfer": 5.147354386281222e-06, + "track": 1.2130984714531223e-06, + "acceleration": 6.476636258412327e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.5009539866878185e-06, + "observation_loss": 6.057526661606971e-06, + "chamfer": 4.930029263050528e-06, + "track": 1.127497398556443e-06, + "acceleration": 4.434274387676851e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.847291959071299e-06, + "observation_loss": 5.6221833801828325e-06, + "chamfer": 4.5929764382890426e-06, + "track": 1.0292071692674654e-06, + "acceleration": 2.2510866415359487e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.839723598910496e-06, + "observation_loss": 5.539930498343892e-06, + "chamfer": 4.52653284810367e-06, + "track": 1.013397650240222e-06, + "acceleration": 2.9979293003634666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.057329756004037e-06, + "observation_loss": 5.810019501950592e-06, + "chamfer": 4.722511221189052e-06, + "track": 1.08750828076154e-06, + "acceleration": 2.473101403666078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.110704816819634e-06, + "observation_loss": 6.002182090014685e-06, + "chamfer": 4.853103746427223e-06, + "track": 1.1490783435874619e-06, + "acceleration": 1.0852255627469276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.234226475498872e-06, + "observation_loss": 6.184924586705165e-06, + "chamfer": 4.986674866813701e-06, + "track": 1.1982497198914643e-06, + "acceleration": 4.9302038007681404e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.339882929751184e-06, + "observation_loss": 6.2626254475617316e-06, + "chamfer": 5.041661552240839e-06, + "track": 1.2209637816340546e-06, + "acceleration": 7.725749640030699e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.4567634581180755e-06, + "observation_loss": 6.318789928627666e-06, + "chamfer": 5.083807536720997e-06, + "track": 1.2349826192803448e-06, + "acceleration": 1.3797358633382828e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.658236998191569e-06, + "observation_loss": 6.463101726694731e-06, + "chamfer": 5.1975075621157885e-06, + "track": 1.2655941645789426e-06, + "acceleration": 1.9513520044256438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.0933770075498614e-06, + "observation_loss": 6.928532911842922e-06, + "chamfer": 5.546633019548608e-06, + "track": 1.3819000059811515e-06, + "acceleration": 1.6484412412864913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.693616680626292e-06, + "observation_loss": 7.545076186943334e-06, + "chamfer": 5.980357400403591e-06, + "track": 1.5647187865397427e-06, + "acceleration": 1.4854046526124876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.224549674196169e-06, + "observation_loss": 7.936001566122286e-06, + "chamfer": 6.262532679102151e-06, + "track": 1.6734692280806485e-06, + "acceleration": 2.8854839229097706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.078959581325762e-06, + "observation_loss": 7.78999674366787e-06, + "chamfer": 6.166867024148814e-06, + "track": 1.6231300605795695e-06, + "acceleration": 2.8896249659737805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.807474503351841e-06, + "observation_loss": 7.542941148130922e-06, + "chamfer": 5.998557298880769e-06, + "track": 1.544383735563315e-06, + "acceleration": 2.6453372470314207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.418101631628815e-06, + "observation_loss": 7.327986168093048e-06, + "chamfer": 5.8377218010718934e-06, + "track": 1.4902643670211546e-06, + "acceleration": 9.011551327375855e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.192163138824981e-06, + "observation_loss": 7.142719823605148e-06, + "chamfer": 5.698659606423462e-06, + "track": 1.4440601034948486e-06, + "acceleration": 4.9443102057011856e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1864806159283035e-06, + "observation_loss": 7.125704541977029e-06, + "chamfer": 5.682257324224338e-06, + "track": 1.4434474451263668e-06, + "acceleration": 6.077621605982131e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.245365850394592e-06, + "observation_loss": 7.164582711993717e-06, + "chamfer": 5.7017568906303495e-06, + "track": 1.4628259350502049e-06, + "acceleration": 8.078320234972125e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.272321909113089e-06, + "observation_loss": 7.228299637063174e-06, + "chamfer": 5.745941962231882e-06, + "track": 1.4823576748312917e-06, + "acceleration": 4.402220810106883e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.5009420470451005e-06, + "observation_loss": 7.293717317224946e-06, + "chamfer": 5.780277660960564e-06, + "track": 1.513439428890706e-06, + "acceleration": 2.072248150852829e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.86445161793381e-06, + "observation_loss": 7.36126503397827e-06, + "chamfer": 5.83270320930751e-06, + "track": 1.5285619383575977e-06, + "acceleration": 5.03186754485796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.515695299138315e-06, + "observation_loss": 7.4907802627421916e-06, + "chamfer": 5.91632033319911e-06, + "track": 1.574459815856244e-06, + "acceleration": 1.0249146953356103e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.11094048205996e-06, + "observation_loss": 7.640286639798433e-06, + "chamfer": 6.034225407347549e-06, + "track": 1.6060611187640461e-06, + "acceleration": 1.4706540696352022e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.65977654029848e-06, + "observation_loss": 7.79255606175866e-06, + "chamfer": 6.151409252197482e-06, + "track": 1.641147264308529e-06, + "acceleration": 8.672205922266585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.505385267199017e-06, + "observation_loss": 8.138331395457499e-06, + "chamfer": 6.402990493370453e-06, + "track": 1.735340447339695e-06, + "acceleration": 3.670538717415184e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.908948075259104e-06, + "observation_loss": 8.62550859892508e-06, + "chamfer": 6.737773219356313e-06, + "track": 1.88773572062928e-06, + "acceleration": 2.8343967528599023e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.316617251897696e-06, + "observation_loss": 9.198111001751386e-06, + "chamfer": 7.128152901714202e-06, + "track": 2.0699585547845345e-06, + "acceleration": 1.1850644199284943e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.60197485255776e-06, + "observation_loss": 9.512680662737694e-06, + "chamfer": 7.3421392698946875e-06, + "track": 2.1705416202166816e-06, + "acceleration": 8.929429640147646e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0005182957684156e-05, + "observation_loss": 9.72842735791346e-06, + "chamfer": 7.490858934033895e-06, + "track": 2.237568651253241e-06, + "acceleration": 2.767552302884724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.010515643429244e-05, + "observation_loss": 9.932610737450887e-06, + "chamfer": 7.605600330862217e-06, + "track": 2.3270106339623453e-06, + "acceleration": 1.725461089563396e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0155497875530273e-05, + "observation_loss": 1.0038868822448421e-05, + "chamfer": 7.665490556973964e-06, + "track": 2.3733784928481327e-06, + "acceleration": 1.1662908150356088e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.027214057103265e-05, + "observation_loss": 9.940899872162845e-06, + "chamfer": 7.601124252687441e-06, + "track": 2.3397758468490792e-06, + "acceleration": 3.312406988698058e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.050104674504837e-05, + "observation_loss": 9.681795745564159e-06, + "chamfer": 7.4421836870897096e-06, + "track": 2.2396120584744494e-06, + "acceleration": 8.192511700144678e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0083244887937326e-05, + "observation_loss": 9.588142347638495e-06, + "chamfer": 7.3723231253097765e-06, + "track": 2.215818767581368e-06, + "acceleration": 4.951021992383176e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.743412192619871e-06, + "observation_loss": 9.514415069133975e-06, + "chamfer": 7.320692020584829e-06, + "track": 2.1937230485491455e-06, + "acceleration": 2.2899703822076845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.604279512132052e-06, + "observation_loss": 9.33327555685537e-06, + "chamfer": 7.1887393460201565e-06, + "track": 2.1445364382088883e-06, + "acceleration": 2.7100375632471696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.702904208097607e-06, + "observation_loss": 9.246468835044652e-06, + "chamfer": 7.120245754776988e-06, + "track": 2.126223080267664e-06, + "acceleration": 4.564354867397924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2828645594709087e-05, + "observation_loss": 9.357787348562852e-06, + "chamfer": 7.1723738983564544e-06, + "track": 2.1854129954590462e-06, + "acceleration": 3.47085801877256e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2375709047773853e-05, + "observation_loss": 9.590259651304223e-06, + "chamfer": 7.3258056545455474e-06, + "track": 2.2644537693849998e-06, + "acceleration": 2.785449169095955e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0415712495159823e-05, + "observation_loss": 9.545572538627312e-06, + "chamfer": 7.300584911718033e-06, + "track": 2.2449871721619274e-06, + "acceleration": 8.701400133759307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0427077540953178e-05, + "observation_loss": 9.623168807593174e-06, + "chamfer": 7.341096534219105e-06, + "track": 2.2820727281214204e-06, + "acceleration": 8.039088470468414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.004158184514381e-05, + "observation_loss": 9.723676157591399e-06, + "chamfer": 7.403691597573925e-06, + "track": 2.3199847873911494e-06, + "acceleration": 3.17905943347796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0066421964438632e-05, + "observation_loss": 9.861882972472813e-06, + "chamfer": 7.47619515095721e-06, + "track": 2.3856875941419275e-06, + "acceleration": 2.045387645921437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0230437510472257e-05, + "observation_loss": 1.001552209345391e-05, + "chamfer": 7.550788723165169e-06, + "track": 2.4647331429150654e-06, + "acceleration": 2.1491547386176535e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.033733587973984e-05, + "observation_loss": 1.0238306458631996e-05, + "chamfer": 7.695610293012578e-06, + "track": 2.542696165619418e-06, + "acceleration": 9.902906583647564e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0649964679032564e-05, + "observation_loss": 1.0558197573118377e-05, + "chamfer": 7.916450158518273e-06, + "track": 2.6417476419737795e-06, + "acceleration": 9.176685722422917e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0900697816396132e-05, + "observation_loss": 1.0777581337606534e-05, + "chamfer": 8.064119356276933e-06, + "track": 2.7134615265822504e-06, + "acceleration": 1.2311687669352978e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0985390872519929e-05, + "observation_loss": 1.0859907888516318e-05, + "chamfer": 8.104135304165538e-06, + "track": 2.7557725843507797e-06, + "acceleration": 1.2548277084079018e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1080509466410149e-05, + "observation_loss": 1.093037826649379e-05, + "chamfer": 8.147392691171262e-06, + "track": 2.7829851205751766e-06, + "acceleration": 1.5013156939858163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1186381925654132e-05, + "observation_loss": 1.1026949323422741e-05, + "chamfer": 8.201087439374533e-06, + "track": 2.8258618840482086e-06, + "acceleration": 1.5943297171361337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.113523103413172e-05, + "observation_loss": 1.103668000723701e-05, + "chamfer": 8.196619091904722e-06, + "track": 2.840060687958612e-06, + "acceleration": 9.855094162958267e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1292777344351634e-05, + "observation_loss": 1.1028813787561376e-05, + "chamfer": 8.189639629563317e-06, + "track": 2.8391739306243835e-06, + "acceleration": 2.6396386942906247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1242797882005107e-05, + "observation_loss": 1.1105223165941425e-05, + "chamfer": 8.23224036139436e-06, + "track": 2.8729830319207394e-06, + "acceleration": 1.3757485817222914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1278804777248297e-05, + "observation_loss": 1.11821591417538e-05, + "chamfer": 8.266494660347234e-06, + "track": 2.9156649361539166e-06, + "acceleration": 9.664547206966745e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1332665962981991e-05, + "observation_loss": 1.1243251719861291e-05, + "chamfer": 8.30447424959857e-06, + "track": 2.938777925010072e-06, + "acceleration": 8.941444917809349e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1403132702980656e-05, + "observation_loss": 1.1322614227537997e-05, + "chamfer": 8.346767572220415e-06, + "track": 2.975847110064933e-06, + "acceleration": 8.05182267527016e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1383585842850152e-05, + "observation_loss": 1.1277512385277078e-05, + "chamfer": 8.322354915435426e-06, + "track": 2.9551574698416516e-06, + "acceleration": 1.0607310940713433e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.121392324421322e-05, + "observation_loss": 1.112149766413495e-05, + "chamfer": 8.22399670141749e-06, + "track": 2.897501190091134e-06, + "acceleration": 9.242598508762967e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.239425191902683e-06, + "chamfer_mean": 5.632454945706892e-06, + "track_mean": 1.533869936842791e-06, + "acceleration_mean": 1.0731003490989839e-06, + "observation_score": 7.16632485620039e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4291213389988116 + }, + "score_arrays_file": "pass_scores/pass_end_0319.npz", + "score_arrays_sha256": "1718a99edffe00b9bb7000251e173b07ab6486fbb456a80e181f0d43998e69de" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0320.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0320.json new file mode 100644 index 0000000000000000000000000000000000000000..05ec5f52a9f0c1ee8e646d2dc2e745525b9a1f80 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0320.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30720, + "completed_passes": 320, + "snapshot": "pass_end_0320", + "candidate": true, + "snapshot_arrays_sha256": "2f59f46360fcf7011d800dde7abd1406333068f5eb9a80b562c35bf0c87faa13", + "score": 7.161345903246759e-06, + "score_result": { + "score": 7.161345903246759e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872346158255823e-06, + 3.156007096549729e-06, + 3.258558535890188e-06, + 3.692720611070399e-06, + 4.210858605802059e-06, + 4.4275288928474765e-06, + 4.1822113416856155e-06, + 4.033214281662367e-06, + 3.975634626840474e-06, + 4.0793465814203955e-06, + 4.458264811546542e-06, + 4.917335900245234e-06, + 5.225954737397842e-06, + 5.43335045222193e-06, + 5.429608791018836e-06, + 5.3190287871984765e-06, + 4.960209935234161e-06, + 4.57337910120259e-06, + 4.3928230297751725e-06, + 4.378898665891029e-06, + 4.334333880251506e-06, + 4.215866283630021e-06, + 4.144574177189497e-06, + 4.145320417592302e-06, + 4.179826191830216e-06, + 4.36953723692568e-06, + 4.7720345719426405e-06, + 5.02186549056205e-06, + 5.013276677345857e-06, + 4.9652790039544925e-06, + 5.096393579151481e-06, + 5.3204307732812595e-06, + 5.5774316933820955e-06, + 5.813367351947818e-06, + 5.8871351029665675e-06, + 5.9925391724391375e-06, + 6.240048605832271e-06, + 6.362803105730563e-06, + 6.060418854758609e-06, + 5.623310244118329e-06, + 5.536711796594318e-06, + 5.805909950140631e-06, + 5.998933374939952e-06, + 6.181239768920932e-06, + 6.258118901314447e-06, + 6.3147826949716546e-06, + 6.4592909438943025e-06, + 6.924566150701139e-06, + 7.540706064901315e-06, + 7.931132131488994e-06, + 7.784627086948603e-06, + 7.5375546657596715e-06, + 7.322958026634296e-06, + 7.138043201848632e-06, + 7.1208573899639305e-06, + 7.159612323448528e-06, + 7.223326065286528e-06, + 7.289319455594523e-06, + 7.3565861384849995e-06, + 7.486361482733628e-06, + 7.635705514985602e-06, + 7.787705726514105e-06, + 8.133818482747301e-06, + 8.621218512416817e-06, + 9.193931873596739e-06, + 9.508939911029302e-06, + 9.724388291942887e-06, + 9.929045518219937e-06, + 1.0034847946371883e-05, + 9.936750757333357e-06, + 9.67665073403623e-06, + 9.582799975760281e-06, + 9.50826688494999e-06, + 9.325984137831256e-06, + 9.237345693691168e-06, + 9.345898433821276e-06, + 9.579330253473017e-06, + 9.538783160678577e-06, + 9.614906957722269e-06, + 9.714010047900956e-06, + 9.852219591266476e-06, + 1.0004866453527939e-05, + 1.0226845915894955e-05, + 1.054526637744857e-05, + 1.076410262612626e-05, + 1.08461508716573e-05, + 1.0916679457295686e-05, + 1.101269299397245e-05, + 1.1023030310752802e-05, + 1.1014853953383863e-05, + 1.1091427950304933e-05, + 1.1168352102686185e-05, + 1.1229305528104305e-05, + 1.1308370631013531e-05, + 1.1263371561653912e-05, + 1.1107630598417018e-05 + ] + ], + "episode_mean_losses": [ + 7.161345903246759e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872346158255823e-06, + "observation_loss": 2.872346158255823e-06, + "chamfer": 2.4364521777897608e-06, + "track": 4.3589395204435277e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.146992796449922e-05, + "observation_loss": 3.156007096549729e-06, + "chamfer": 2.669138439159724e-06, + "track": 4.868687142334238e-07, + "acceleration": 3.831391950370744e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.315086021553725e-05, + "observation_loss": 3.258558535890188e-06, + "chamfer": 2.759195922408253e-06, + "track": 4.99362670325354e-07, + "acceleration": 1.9892302589141764e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0118850696017034e-05, + "observation_loss": 3.692720611070399e-06, + "chamfer": 3.1144095373747405e-06, + "track": 5.783111305390776e-07, + "acceleration": 6.426130312320311e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.849426088389009e-06, + "observation_loss": 4.210858605802059e-06, + "chamfer": 3.5321731957083102e-06, + "track": 6.786853532503301e-07, + "acceleration": 1.6385677099606255e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.531580427486915e-06, + "observation_loss": 4.4275288928474765e-06, + "chamfer": 3.7048905596748227e-06, + "track": 7.226382194858161e-07, + "acceleration": 1.1040513072657632e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.831242677028058e-06, + "observation_loss": 4.1822113416856155e-06, + "chamfer": 3.504877440718701e-06, + "track": 6.773339578103332e-07, + "acceleration": 6.490313353424426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.588517640513601e-06, + "observation_loss": 4.033214281662367e-06, + "chamfer": 3.385590844118269e-06, + "track": 6.476232670138415e-07, + "acceleration": 5.553034725380712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.44438774138689e-06, + "observation_loss": 3.975634626840474e-06, + "chamfer": 3.3420437830500305e-06, + "track": 6.33590673260187e-07, + "acceleration": 4.6875294401615974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.382047791295918e-06, + "observation_loss": 4.0793465814203955e-06, + "chamfer": 3.4271938602614682e-06, + "track": 6.521526643155084e-07, + "acceleration": 3.0270109618868446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.591834567690967e-06, + "observation_loss": 4.458264811546542e-06, + "chamfer": 3.735635800694581e-06, + "track": 7.22628840321704e-07, + "acceleration": 1.3356958561416832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.007859272154747e-06, + "observation_loss": 4.917335900245234e-06, + "chamfer": 4.104237632418517e-06, + "track": 8.130984383569739e-07, + "acceleration": 9.05232226955377e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.316277565725613e-06, + "observation_loss": 5.225954737397842e-06, + "chamfer": 4.357980287750252e-06, + "track": 8.679744496475905e-07, + "acceleration": 9.032267911379677e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.537207016459433e-06, + "observation_loss": 5.43335045222193e-06, + "chamfer": 4.534579602477606e-06, + "track": 8.987709065877425e-07, + "acceleration": 1.038566708189137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.48922025700449e-06, + "observation_loss": 5.429608791018836e-06, + "chamfer": 4.535265816230094e-06, + "track": 8.943429179453233e-07, + "acceleration": 5.961135940424356e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.440555014502024e-06, + "observation_loss": 5.3190287871984765e-06, + "chamfer": 4.444965270522516e-06, + "track": 8.740634598325414e-07, + "acceleration": 1.2152607098414592e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.163451533007901e-06, + "observation_loss": 4.960209935234161e-06, + "chamfer": 4.150678250880446e-06, + "track": 8.095317980405525e-07, + "acceleration": 2.0324141303262877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.8807064558786806e-06, + "observation_loss": 4.57337910120259e-06, + "chamfer": 3.8312332435452845e-06, + "track": 7.421459713441436e-07, + "acceleration": 3.0732732625438075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.557294687401736e-06, + "observation_loss": 4.3928230297751725e-06, + "chamfer": 3.6791871025343426e-06, + "track": 7.136358135539922e-07, + "acceleration": 1.6447174289169197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.56934185422142e-06, + "observation_loss": 4.378898665891029e-06, + "chamfer": 3.6636301956605166e-06, + "track": 7.152684702305123e-07, + "acceleration": 1.9044337307150272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.620411800715374e-06, + "observation_loss": 4.334333880251506e-06, + "chamfer": 3.625433237175457e-06, + "track": 7.089005293892114e-07, + "acceleration": 2.860779204638675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.492091647989582e-06, + "observation_loss": 4.215866283630021e-06, + "chamfer": 3.5283721899759257e-06, + "track": 6.874942073409329e-07, + "acceleration": 2.7622553488981794e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.657301360566635e-06, + "observation_loss": 4.144574177189497e-06, + "chamfer": 3.474811137493816e-06, + "track": 6.697630965390999e-07, + "acceleration": 5.127270696902997e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.995660674467217e-06, + "observation_loss": 4.145320417592302e-06, + "chamfer": 3.471639274721383e-06, + "track": 6.736809723406623e-07, + "acceleration": 8.503402568749152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.834211722481996e-06, + "observation_loss": 4.179826191830216e-06, + "chamfer": 3.4834727102861507e-06, + "track": 6.963535383874842e-07, + "acceleration": 6.543855874951987e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.743826139019802e-06, + "observation_loss": 4.36953723692568e-06, + "chamfer": 3.622456233642879e-06, + "track": 7.470807759091258e-07, + "acceleration": 3.7428893051583145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.077854439150542e-06, + "observation_loss": 4.7720345719426405e-06, + "chamfer": 3.92727815778926e-06, + "track": 8.447562436231237e-07, + "acceleration": 3.058196398342261e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.233830506767845e-06, + "observation_loss": 5.02186549056205e-06, + "chamfer": 4.117839580430882e-06, + "track": 9.04025739600911e-07, + "acceleration": 2.119650019949404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.342549229681026e-06, + "observation_loss": 5.013276677345857e-06, + "chamfer": 4.115529463888379e-06, + "track": 8.977473839877348e-07, + "acceleration": 3.2927272286542575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.218534170126077e-06, + "observation_loss": 4.9652790039544925e-06, + "chamfer": 4.088200512342155e-06, + "track": 8.770786621425941e-07, + "acceleration": 2.5325525143671257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.359904207580257e-06, + "observation_loss": 5.096393579151481e-06, + "chamfer": 4.201282081339741e-06, + "track": 8.951114409683214e-07, + "acceleration": 2.6351085580245126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.730113116442226e-06, + "observation_loss": 5.3204307732812595e-06, + "chamfer": 4.380567588668782e-06, + "track": 9.398630140822206e-07, + "acceleration": 4.0968237158267584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.2846111177350394e-06, + "observation_loss": 5.5774316933820955e-06, + "chamfer": 4.585866463457933e-06, + "track": 9.915653436110006e-07, + "acceleration": 7.071796517266193e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.294749593711458e-06, + "observation_loss": 5.813367351947818e-06, + "chamfer": 4.763584456668468e-06, + "track": 1.0497831226530252e-06, + "acceleration": 1.4813820143899648e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.294072929653339e-06, + "observation_loss": 5.8871351029665675e-06, + "chamfer": 4.817773515242152e-06, + "track": 1.0693617014112533e-06, + "acceleration": 1.4069379403736093e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.821926490374608e-06, + "observation_loss": 5.9925391724391375e-06, + "chamfer": 4.87988518216298e-06, + "track": 1.1126539902761579e-06, + "acceleration": 8.293871474052139e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.009698492765892e-06, + "observation_loss": 6.240048605832271e-06, + "chamfer": 5.049691480962792e-06, + "track": 1.1903573522431543e-06, + "acceleration": 7.696500574638776e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.056417871353915e-06, + "observation_loss": 6.362803105730563e-06, + "chamfer": 5.148992840986466e-06, + "track": 1.2138102647440974e-06, + "acceleration": 6.936147656233516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.531470262416406e-06, + "observation_loss": 6.060418854758609e-06, + "chamfer": 4.932147930958308e-06, + "track": 1.1282709238003008e-06, + "acceleration": 4.710514076577965e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.857887572346954e-06, + "observation_loss": 5.623310244118329e-06, + "chamfer": 4.593824542098446e-06, + "track": 1.0294859293935588e-06, + "acceleration": 2.3457749875888112e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.836733635078417e-06, + "observation_loss": 5.536711796594318e-06, + "chamfer": 4.523954885371495e-06, + "track": 1.0127570249096607e-06, + "acceleration": 3.0002183848409913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.050282081559999e-06, + "observation_loss": 5.805909950140631e-06, + "chamfer": 4.719281150755705e-06, + "track": 1.0866289130717632e-06, + "acceleration": 2.443723303713341e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.102986844780389e-06, + "observation_loss": 5.998933374939952e-06, + "chamfer": 4.850495770369889e-06, + "track": 1.1484376045700628e-06, + "acceleration": 1.0405340589159096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.23113237452344e-06, + "observation_loss": 6.181239768920932e-06, + "chamfer": 4.9837394726637285e-06, + "track": 1.197500068883528e-06, + "acceleration": 4.989263757693152e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.3359948399011046e-06, + "observation_loss": 6.258118901314447e-06, + "chamfer": 5.038138169766171e-06, + "track": 1.2199807315482758e-06, + "acceleration": 7.787580358353807e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.45154341327725e-06, + "observation_loss": 6.3147826949716546e-06, + "chamfer": 5.080675236968091e-06, + "track": 1.2341076853772392e-06, + "acceleration": 1.367605051427745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.654383923887508e-06, + "observation_loss": 6.4592909438943025e-06, + "chamfer": 5.194517143536359e-06, + "track": 1.2647739140447811e-06, + "acceleration": 1.9509313631260738e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.088387519615935e-06, + "observation_loss": 6.924566150701139e-06, + "chamfer": 5.543620773096336e-06, + "track": 1.3809456049784785e-06, + "acceleration": 1.6382138312565075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.689493941143155e-06, + "observation_loss": 7.540706064901315e-06, + "chamfer": 5.977138243906666e-06, + "track": 1.5635677073078114e-06, + "acceleration": 1.4878769150072912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.218636139645241e-06, + "observation_loss": 7.931132131488994e-06, + "chamfer": 6.259029305510921e-06, + "track": 1.672102598604397e-06, + "acceleration": 2.875044629035983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.073375283856876e-06, + "observation_loss": 7.784627086948603e-06, + "chamfer": 6.1629411902686115e-06, + "track": 1.6216861240536673e-06, + "acceleration": 2.887479126911785e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.802772415743675e-06, + "observation_loss": 7.5375546657596715e-06, + "chamfer": 5.994519142404897e-06, + "track": 1.543035295981099e-06, + "acceleration": 2.65217579453747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.413456842186861e-06, + "observation_loss": 7.322958026634296e-06, + "chamfer": 5.8338523558632005e-06, + "track": 1.4891057844579336e-06, + "acceleration": 9.049889371226527e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.187384198914515e-06, + "observation_loss": 7.138043201848632e-06, + "chamfer": 5.69502162761637e-06, + "track": 1.4430215742322616e-06, + "acceleration": 4.934114627985764e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.181641649367521e-06, + "observation_loss": 7.1208573899639305e-06, + "chamfer": 5.678459729097085e-06, + "track": 1.4423975471800077e-06, + "acceleration": 6.078447256641084e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2401116995024495e-06, + "observation_loss": 7.159612323448528e-06, + "chamfer": 5.697843334928621e-06, + "track": 1.4617688748330693e-06, + "acceleration": 8.049934052678509e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.267297860380495e-06, + "observation_loss": 7.223326065286528e-06, + "chamfer": 5.741949280491099e-06, + "track": 1.4813767847954296e-06, + "acceleration": 4.397167785441525e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.495230875065317e-06, + "observation_loss": 7.289319455594523e-06, + "chamfer": 5.7767483667703345e-06, + "track": 1.5125709751373506e-06, + "acceleration": 2.0591156157934165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.85837801231537e-06, + "observation_loss": 7.3565861384849995e-06, + "chamfer": 5.828943358210381e-06, + "track": 1.5276430076482939e-06, + "acceleration": 5.017914759264386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.510111911164131e-06, + "observation_loss": 7.486361482733628e-06, + "chamfer": 5.912807409913512e-06, + "track": 1.5735539591332781e-06, + "acceleration": 1.0237507694910164e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.105991921387613e-06, + "observation_loss": 7.635705514985602e-06, + "chamfer": 6.030596068740124e-06, + "track": 1.605109673619154e-06, + "acceleration": 1.470286179028335e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.655491001263727e-06, + "observation_loss": 7.787705726514105e-06, + "chamfer": 6.14759164818679e-06, + "track": 1.640114419387828e-06, + "acceleration": 8.677856726535538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.501265256199986e-06, + "observation_loss": 8.133818482747301e-06, + "chamfer": 6.399430731107714e-06, + "track": 1.734388092700101e-06, + "acceleration": 3.6744663134413713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.905198228603695e-06, + "observation_loss": 8.621218512416817e-06, + "chamfer": 6.7343839873501565e-06, + "track": 1.8868340703193098e-06, + "acceleration": 2.839792898612359e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.312840120401233e-06, + "observation_loss": 9.193931873596739e-06, + "chamfer": 7.124851890694117e-06, + "track": 2.0690797555289464e-06, + "acceleration": 1.1890824680449441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.598798897059169e-06, + "observation_loss": 9.508939911029302e-06, + "chamfer": 7.339304829656612e-06, + "track": 2.169635308746365e-06, + "acceleration": 8.985938393379911e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0001899681810755e-05, + "observation_loss": 9.724388291942887e-06, + "chamfer": 7.487829407182289e-06, + "track": 2.2365586573869223e-06, + "acceleration": 2.775110488073551e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0102105079567991e-05, + "observation_loss": 9.929045518219937e-06, + "chamfer": 7.6030532909499016e-06, + "track": 2.3259924546437105e-06, + "acceleration": 1.7305944766121684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0151399692404084e-05, + "observation_loss": 1.0034847946371883e-05, + "chamfer": 7.66261564422166e-06, + "track": 2.372232074776548e-06, + "acceleration": 1.1655206577643185e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0268134246871341e-05, + "observation_loss": 9.936750757333357e-06, + "chamfer": 7.598174761369592e-06, + "track": 2.3385759959637653e-06, + "acceleration": 3.3138314847747097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0496243703528307e-05, + "observation_loss": 9.67665073403623e-06, + "chamfer": 7.438503871526336e-06, + "track": 2.238146635136218e-06, + "acceleration": 8.195927421184024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0078347258968279e-05, + "observation_loss": 9.582799975760281e-06, + "chamfer": 7.3687383519427385e-06, + "track": 2.214061851191218e-06, + "acceleration": 4.955469421474845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.73678379523335e-06, + "observation_loss": 9.50826688494999e-06, + "chamfer": 7.316446044569602e-06, + "track": 2.1918203856330365e-06, + "acceleration": 2.2851703818105307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.594821676728316e-06, + "observation_loss": 9.325984137831256e-06, + "chamfer": 7.183690286183264e-06, + "track": 2.142293396900641e-06, + "acceleration": 2.688373115233844e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.699699148768559e-06, + "observation_loss": 9.237345693691168e-06, + "chamfer": 7.1142762863019016e-06, + "track": 2.123069180015591e-06, + "acceleration": 4.6235339823397226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2850634448113851e-05, + "observation_loss": 9.345898433821276e-06, + "chamfer": 7.1639706220594235e-06, + "track": 2.181928039135528e-06, + "acceleration": 3.5047364690399263e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2336749023234006e-05, + "observation_loss": 9.579330253473017e-06, + "chamfer": 7.318258212762885e-06, + "track": 2.261072268083808e-06, + "acceleration": 2.757418997134664e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.042550411511911e-05, + "observation_loss": 9.538783160678577e-06, + "chamfer": 7.296247076737927e-06, + "track": 2.2425360839406494e-06, + "acceleration": 8.86721011283953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0415852557343896e-05, + "observation_loss": 9.614906957722269e-06, + "chamfer": 7.335293503274443e-06, + "track": 2.2796139091951773e-06, + "acceleration": 8.009458838387218e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.003058878268348e-05, + "observation_loss": 9.714010047900956e-06, + "chamfer": 7.397167337330757e-06, + "track": 2.316842937943875e-06, + "acceleration": 3.1657847898713953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0069225027109496e-05, + "observation_loss": 9.852219591266476e-06, + "chamfer": 7.470103810192086e-06, + "track": 2.38211578107439e-06, + "acceleration": 2.1700525110190938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0229866347799543e-05, + "observation_loss": 1.0004866453527939e-05, + "chamfer": 7.543993433500873e-06, + "track": 2.460873247400741e-06, + "acceleration": 2.2499988006075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0327280506317038e-05, + "observation_loss": 1.0226845915894955e-05, + "chamfer": 7.688411642448045e-06, + "track": 2.5384345008205855e-06, + "acceleration": 1.0043498122058736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0636760634952225e-05, + "observation_loss": 1.054526637744857e-05, + "chamfer": 7.908428415248636e-06, + "track": 2.636837962199934e-06, + "acceleration": 9.149431434707367e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0886165910051204e-05, + "observation_loss": 1.076410262612626e-05, + "chamfer": 8.055746548052412e-06, + "track": 2.7083558507001726e-06, + "acceleration": 1.2206307076212397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0971020856231917e-05, + "observation_loss": 1.08461508716573e-05, + "chamfer": 8.095737030089367e-06, + "track": 2.750414068941609e-06, + "acceleration": 1.2487032563512912e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1066747902077623e-05, + "observation_loss": 1.0916679457295686e-05, + "chamfer": 8.139040801324882e-06, + "track": 2.7776386559708044e-06, + "acceleration": 1.500682600408254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1171766345796641e-05, + "observation_loss": 1.101269299397245e-05, + "chamfer": 8.192423592845444e-06, + "track": 2.8202691737533314e-06, + "acceleration": 1.590735791978659e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1120838280476164e-05, + "observation_loss": 1.1023030310752802e-05, + "chamfer": 8.188437277567573e-06, + "track": 2.834593260558904e-06, + "acceleration": 9.780757181943045e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1279306818323676e-05, + "observation_loss": 1.1014853953383863e-05, + "chamfer": 8.18114585854346e-06, + "track": 2.8337085495877545e-06, + "acceleration": 2.6445255230100884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1229797564737964e-05, + "observation_loss": 1.1091427950304933e-05, + "chamfer": 8.224030352721456e-06, + "track": 2.8673980523308273e-06, + "acceleration": 1.3837004075867299e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1265127795923036e-05, + "observation_loss": 1.1168352102686185e-05, + "chamfer": 8.25839197204914e-06, + "track": 2.909960130637046e-06, + "acceleration": 9.677603429736337e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.131872249970911e-05, + "observation_loss": 1.1229305528104305e-05, + "chamfer": 8.29624059406342e-06, + "track": 2.933065161414561e-06, + "acceleration": 8.941724871647239e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1389034625608474e-05, + "observation_loss": 1.1308370631013531e-05, + "chamfer": 8.338350198755506e-06, + "track": 2.9700206596317003e-06, + "acceleration": 8.066366063985697e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1369591447873972e-05, + "observation_loss": 1.1263371561653912e-05, + "chamfer": 8.31409306556452e-06, + "track": 2.9492784960893914e-06, + "acceleration": 1.0621992885262443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1200283552170731e-05, + "observation_loss": 1.1107630598417018e-05, + "chamfer": 8.215894922614098e-06, + "track": 2.8917359031765955e-06, + "acceleration": 9.265338718478233e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.236867491480856e-06, + "chamfer_mean": 5.629026842276137e-06, + "track_mean": 1.5323190867277958e-06, + "acceleration_mean": 1.0755215920828694e-06, + "observation_score": 7.161345903246759e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4199337099998957 + }, + "score_arrays_file": "pass_scores/pass_end_0320.npz", + "score_arrays_sha256": "51d80b81e32262f1680196d0649dc30795b1b61f5c9510f2ab1a62ed0deaab13" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0321.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0321.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9729f8b0ea9483d460323560764f2ba3c4308d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0321.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30816, + "completed_passes": 321, + "snapshot": "pass_end_0321", + "candidate": true, + "snapshot_arrays_sha256": "a552ffcddbedc78aa217fe4973e03dd39ad8ab83cddda74f4fc99c65fe98d438", + "score": 7.159571910146194e-06, + "score_result": { + "score": 7.159571910146194e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8723161449306644e-06, + 3.1558211048832163e-06, + 3.257116986787878e-06, + 3.6913900203217054e-06, + 4.209438884572592e-06, + 4.426421583048068e-06, + 4.180763426120393e-06, + 4.030976469948655e-06, + 3.973176262661582e-06, + 4.076529876329005e-06, + 4.455215275811497e-06, + 4.914400506095262e-06, + 5.223327661951771e-06, + 5.430563760455698e-06, + 5.426946700026747e-06, + 5.316383976605721e-06, + 4.9576970013731625e-06, + 4.570874352793908e-06, + 4.390552476252196e-06, + 4.37705239164643e-06, + 4.332703610998578e-06, + 4.213146439724369e-06, + 4.140716555411927e-06, + 4.142031684750691e-06, + 4.1777011574595235e-06, + 4.368397640064359e-06, + 4.770725354319438e-06, + 5.017893727199407e-06, + 5.008149400964612e-06, + 4.959904799761716e-06, + 5.093763775221305e-06, + 5.319849151419476e-06, + 5.578963737207232e-06, + 5.814622454636265e-06, + 5.887797669856809e-06, + 5.991234502289444e-06, + 6.240252332645468e-06, + 6.364226464938838e-06, + 6.062417469365755e-06, + 5.624012828775449e-06, + 5.534569481824292e-06, + 5.802942723676097e-06, + 5.996639629302081e-06, + 6.17828391114017e-06, + 6.255322205106495e-06, + 6.312773621175438e-06, + 6.457543349824846e-06, + 6.923123692104127e-06, + 7.539550097135361e-06, + 7.92978062236216e-06, + 7.783350156387314e-06, + 7.5370016929809935e-06, + 7.322752935579047e-06, + 7.137889951991383e-06, + 7.120986992958933e-06, + 7.1597687565372325e-06, + 7.224248747661477e-06, + 7.290931534953415e-06, + 7.358856692007976e-06, + 7.489444215025287e-06, + 7.639804607606493e-06, + 7.793270015099552e-06, + 8.140413228829857e-06, + 8.629485819255933e-06, + 9.203543413605075e-06, + 9.520053026790265e-06, + 9.737006621435285e-06, + 9.942578799382318e-06, + 1.0049348020402249e-05, + 9.950694220606238e-06, + 9.689920261735097e-06, + 9.595251867722254e-06, + 9.519238119537476e-06, + 9.334504284197465e-06, + 9.24257437873166e-06, + 9.34692616283428e-06, + 9.57988049776759e-06, + 9.541508006805088e-06, + 9.61394289333839e-06, + 9.709791811474133e-06, + 9.846052307693753e-06, + 9.995963409892283e-06, + 1.0215527254331391e-05, + 1.0532254236750305e-05, + 1.075008822226664e-05, + 1.0831296094693244e-05, + 1.0901504538196605e-05, + 1.0996449418598786e-05, + 1.1006634849763941e-05, + 1.0997902791132219e-05, + 1.1074417670897674e-05, + 1.1151304533996154e-05, + 1.1211608580197208e-05, + 1.1290649126749486e-05, + 1.1245932000747416e-05, + 1.1090345651609823e-05 + ] + ], + "episode_mean_losses": [ + 7.159571910146194e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8723161449306644e-06, + "observation_loss": 2.8723161449306644e-06, + "chamfer": 2.4364171622437425e-06, + "track": 4.358990111086314e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1473060264252126e-05, + "observation_loss": 3.1558211048832163e-06, + "chamfer": 2.668976321729133e-06, + "track": 4.868447831540834e-07, + "acceleration": 3.8317237340379506e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3144624719861895e-05, + "observation_loss": 3.257116986787878e-06, + "chamfer": 2.7579992547543952e-06, + "track": 4.991177888769016e-07, + "acceleration": 1.9887507733074017e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0116050361830276e-05, + "observation_loss": 3.6913900203217054e-06, + "chamfer": 3.1133056381804636e-06, + "track": 5.780843252978229e-07, + "acceleration": 6.4246605688822456e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.839360255777137e-06, + "observation_loss": 4.209438884572592e-06, + "chamfer": 3.5310042676428566e-06, + "track": 6.784347306165728e-07, + "acceleration": 1.6299214848913834e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.528288511413848e-06, + "observation_loss": 4.426421583048068e-06, + "chamfer": 3.703969468915602e-06, + "track": 7.224522278193035e-07, + "acceleration": 1.1018670420526178e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.8286415221809875e-06, + "observation_loss": 4.180763426120393e-06, + "chamfer": 3.5036623557971325e-06, + "track": 6.771011840100982e-07, + "acceleration": 6.478780392171757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.587726834870409e-06, + "observation_loss": 4.030976469948655e-06, + "chamfer": 3.3837141018011607e-06, + "track": 6.472623113040754e-07, + "acceleration": 5.567505354520108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.442005320015596e-06, + "observation_loss": 3.973176262661582e-06, + "chamfer": 3.3399899166397518e-06, + "track": 6.33186402865249e-07, + "acceleration": 4.688290857757238e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.379071924631717e-06, + "observation_loss": 4.076529876329005e-06, + "chamfer": 3.424848955546622e-06, + "track": 6.516810344692203e-07, + "acceleration": 3.0254199145929306e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.589069703797577e-06, + "observation_loss": 4.455215275811497e-06, + "chamfer": 3.7331274143070914e-06, + "track": 7.220880320346623e-07, + "acceleration": 1.3385427166667796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.005138518754393e-06, + "observation_loss": 4.914400506095262e-06, + "chamfer": 4.101846116100205e-06, + "track": 8.12554446838476e-07, + "acceleration": 9.073785633972875e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.314103418641025e-06, + "observation_loss": 5.223327661951771e-06, + "chamfer": 4.3558420657063834e-06, + "track": 8.67485425715131e-07, + "acceleration": 9.077562879156176e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.5348114074149635e-06, + "observation_loss": 5.430563760455698e-06, + "chamfer": 4.532317234406946e-06, + "track": 8.98246355518495e-07, + "acceleration": 1.0424755458871005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.4867596190888435e-06, + "observation_loss": 5.426946700026747e-06, + "chamfer": 4.533106221060734e-06, + "track": 8.93840706339688e-07, + "acceleration": 5.981311801406264e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.438238531496609e-06, + "observation_loss": 5.316383976605721e-06, + "chamfer": 4.442811132321367e-06, + "track": 8.735727305975161e-07, + "acceleration": 1.2185441278234066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.161178705748171e-06, + "observation_loss": 4.9576970013731625e-06, + "chamfer": 4.1486305235594045e-06, + "track": 8.090665915005957e-07, + "acceleration": 2.0348164753158926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.8788801905175205e-06, + "observation_loss": 4.570874352793908e-06, + "chamfer": 3.8291946111712605e-06, + "track": 7.416797984660661e-07, + "acceleration": 3.080058377236128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.554922725219512e-06, + "observation_loss": 4.390552476252196e-06, + "chamfer": 3.6773078591068042e-06, + "track": 7.132445603019733e-07, + "acceleration": 1.64370149491333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.566539701045258e-06, + "observation_loss": 4.37705239164643e-06, + "chamfer": 3.6620890568883624e-06, + "track": 7.149631073843921e-07, + "acceleration": 1.894875083507941e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6192117224563845e-06, + "observation_loss": 4.332703610998578e-06, + "chamfer": 3.6240851386537543e-06, + "track": 7.086186997184996e-07, + "acceleration": 2.8650808303609665e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.489662387641147e-06, + "observation_loss": 4.213146439724369e-06, + "chamfer": 3.5261293760413537e-06, + "track": 6.870168931527587e-07, + "acceleration": 2.765158342299401e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.662382252718089e-06, + "observation_loss": 4.140716555411927e-06, + "chamfer": 3.471616082606488e-06, + "track": 6.691005296488584e-07, + "acceleration": 5.216656973061617e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.010295353713445e-06, + "observation_loss": 4.142031684750691e-06, + "chamfer": 3.4689091990003362e-06, + "track": 6.731226562806114e-07, + "acceleration": 8.68263782649592e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.844249360758113e-06, + "observation_loss": 4.1777011574595235e-06, + "chamfer": 3.48167441188707e-06, + "track": 6.9602691610271e-07, + "acceleration": 6.665480896117515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.743320005218266e-06, + "observation_loss": 4.368397640064359e-06, + "chamfer": 3.621499445216614e-06, + "track": 7.468979674740694e-07, + "acceleration": 3.7492245041903516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.073166903457604e-06, + "observation_loss": 4.770725354319438e-06, + "chamfer": 3.926266799680889e-06, + "track": 8.444585546385497e-07, + "acceleration": 3.024417196684226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.231361228652531e-06, + "observation_loss": 5.017893727199407e-06, + "chamfer": 4.114744569960749e-06, + "track": 9.031492140820774e-07, + "acceleration": 2.13467600929107e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.343328211893095e-06, + "observation_loss": 5.008149400964612e-06, + "chamfer": 4.111398538952926e-06, + "track": 8.967509188551048e-07, + "acceleration": 3.35178839350192e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.219569175096694e-06, + "observation_loss": 4.959904799761716e-06, + "chamfer": 4.083849034941522e-06, + "track": 8.760559353504505e-07, + "acceleration": 2.5966434691326867e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.353537744667847e-06, + "observation_loss": 5.093763775221305e-06, + "chamfer": 4.19916295868461e-06, + "track": 8.946007596932759e-07, + "acceleration": 2.597741968202172e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.7163683777616825e-06, + "observation_loss": 5.319849151419476e-06, + "chamfer": 4.380075097287772e-06, + "track": 9.397741678185412e-07, + "acceleration": 3.965192831856257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.241532901185565e-06, + "observation_loss": 5.578963737207232e-06, + "chamfer": 4.587118837662274e-06, + "track": 9.918450132317957e-07, + "acceleration": 6.625693913520081e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.253734565892955e-06, + "observation_loss": 5.814622454636265e-06, + "chamfer": 4.764824552694336e-06, + "track": 1.0497977882550913e-06, + "acceleration": 1.439111997569853e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.323710178752663e-06, + "observation_loss": 5.887797669856809e-06, + "chamfer": 4.81860342915752e-06, + "track": 1.0691942406992894e-06, + "acceleration": 1.4359125088958535e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.849267265351955e-06, + "observation_loss": 5.991234502289444e-06, + "chamfer": 4.879245352640282e-06, + "track": 1.1119893770228373e-06, + "acceleration": 8.580326493756729e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.02761599313817e-06, + "observation_loss": 6.240252332645468e-06, + "chamfer": 5.050078470958397e-06, + "track": 1.1901738616870716e-06, + "acceleration": 7.873636036492826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.101998562575318e-06, + "observation_loss": 6.364226464938838e-06, + "chamfer": 5.149973276274977e-06, + "track": 1.2142534160375362e-06, + "acceleration": 7.377723250101553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.558065251738299e-06, + "observation_loss": 6.062417469365755e-06, + "chamfer": 4.933601758239092e-06, + "track": 1.1288158248135005e-06, + "acceleration": 4.956475549988681e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8677173910837155e-06, + "observation_loss": 5.624012828775449e-06, + "chamfer": 4.594349320541369e-06, + "track": 1.0296633945472422e-06, + "acceleration": 2.4370453388655733e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.83414976063068e-06, + "observation_loss": 5.534569481824292e-06, + "chamfer": 4.5222586777526885e-06, + "track": 1.012310917758441e-06, + "acceleration": 2.9958044933664496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.044052952347556e-06, + "observation_loss": 5.802942723676097e-06, + "chamfer": 4.716943294624798e-06, + "track": 1.085999315364461e-06, + "acceleration": 2.411101718280406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.096630841057049e-06, + "observation_loss": 5.996639629302081e-06, + "chamfer": 4.848622666031588e-06, + "track": 1.1480171906441683e-06, + "acceleration": 9.999119043868632e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.228084657777799e-06, + "observation_loss": 6.17828391114017e-06, + "chamfer": 4.981397523806663e-06, + "track": 1.1968866147071822e-06, + "acceleration": 4.9800839008184994e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.3333036450785585e-06, + "observation_loss": 6.255322205106495e-06, + "chamfer": 5.03595219925046e-06, + "track": 1.219370119542873e-06, + "acceleration": 7.798121970381544e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.449195097957272e-06, + "observation_loss": 6.312773621175438e-06, + "chamfer": 5.07905906488304e-06, + "track": 1.233714556292398e-06, + "acceleration": 1.3642170415550936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.65176867187256e-06, + "observation_loss": 6.457543349824846e-06, + "chamfer": 5.193146535020787e-06, + "track": 1.264397042177734e-06, + "acceleration": 1.942254641562613e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.086058758432046e-06, + "observation_loss": 6.923123692104127e-06, + "chamfer": 5.54257121621049e-06, + "track": 1.3805522485199617e-06, + "acceleration": 1.6293525106902962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.688935511396267e-06, + "observation_loss": 7.539550097135361e-06, + "chamfer": 5.976286502118455e-06, + "track": 1.5632633676432306e-06, + "acceleration": 1.4938498793526378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.21678895590594e-06, + "observation_loss": 7.92978062236216e-06, + "chamfer": 6.258057055674726e-06, + "track": 1.6717236803742708e-06, + "acceleration": 2.870085324957472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.072985110629816e-06, + "observation_loss": 7.783350156387314e-06, + "chamfer": 6.1620962696906645e-06, + "track": 1.6212542277571629e-06, + "acceleration": 2.896352384595957e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.802694199199323e-06, + "observation_loss": 7.5370016929809935e-06, + "chamfer": 5.994183993607294e-06, + "track": 1.542817585686862e-06, + "acceleration": 2.656923641097819e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.413346338580595e-06, + "observation_loss": 7.322752935579047e-06, + "chamfer": 5.833731393067865e-06, + "track": 1.4890216561980196e-06, + "acceleration": 9.059335326355722e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.186898528743768e-06, + "observation_loss": 7.137889951991383e-06, + "chamfer": 5.694930223398842e-06, + "track": 1.4429595012188656e-06, + "acceleration": 4.900849503997051e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.181836735981051e-06, + "observation_loss": 7.120986992958933e-06, + "chamfer": 5.678598881786456e-06, + "track": 1.4423882248593145e-06, + "acceleration": 6.084996329036585e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2403681770083494e-06, + "observation_loss": 7.1597687565372325e-06, + "chamfer": 5.6979997680173256e-06, + "track": 1.4617688748330693e-06, + "acceleration": 8.059963363393763e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.26809048501309e-06, + "observation_loss": 7.224248747661477e-06, + "chamfer": 5.742682333220728e-06, + "track": 1.4815664144407492e-06, + "acceleration": 4.384175866789519e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4968647822970524e-06, + "observation_loss": 7.290931534953415e-06, + "chamfer": 5.778005288448185e-06, + "track": 1.512926132818393e-06, + "acceleration": 2.0593343208474835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.862380698497873e-06, + "observation_loss": 7.358856692007976e-06, + "chamfer": 5.830697773490101e-06, + "track": 1.5281588048310368e-06, + "acceleration": 5.035237791162217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.517091373505536e-06, + "observation_loss": 7.489444215025287e-06, + "chamfer": 5.915221208852017e-06, + "track": 1.5742232335469453e-06, + "acceleration": 1.0276474995407625e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.114879503613338e-06, + "observation_loss": 7.639804607606493e-06, + "chamfer": 6.033731096977135e-06, + "track": 1.6060731695688446e-06, + "acceleration": 1.4750745549463318e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.663327207614202e-06, + "observation_loss": 7.793270015099552e-06, + "chamfer": 6.151824891276192e-06, + "track": 1.6414448964496842e-06, + "acceleration": 8.700573630449071e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.508702194376383e-06, + "observation_loss": 8.140413228829857e-06, + "chamfer": 6.404327450582059e-06, + "track": 1.7360857782477979e-06, + "acceleration": 3.6828916449849203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.913272722566035e-06, + "observation_loss": 8.629485819255933e-06, + "chamfer": 6.740499429724878e-06, + "track": 1.888986616904731e-06, + "acceleration": 2.8378650540616945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.322166988567915e-06, + "observation_loss": 9.203543413605075e-06, + "chamfer": 7.13182498657261e-06, + "track": 2.0717181996587897e-06, + "acceleration": 1.1862326942946311e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.609785593056586e-06, + "observation_loss": 9.520053026790265e-06, + "chamfer": 7.34732157070539e-06, + "track": 2.172731683458551e-06, + "acceleration": 8.973297838110739e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.001452164928196e-05, + "observation_loss": 9.737006621435285e-06, + "chamfer": 7.497070782847004e-06, + "track": 2.239935611214605e-06, + "acceleration": 2.7751462994274334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0114992619492114e-05, + "observation_loss": 9.942578799382318e-06, + "chamfer": 7.612975423398893e-06, + "track": 2.3296033759834245e-06, + "acceleration": 1.7241377747723163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0165845196752343e-05, + "observation_loss": 1.0049348020402249e-05, + "chamfer": 7.673202162550297e-06, + "track": 2.3761458578519523e-06, + "acceleration": 1.1649687792214536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.028226142807398e-05, + "observation_loss": 9.950694220606238e-06, + "chamfer": 7.608294254168868e-06, + "track": 2.342399739063694e-06, + "acceleration": 3.3156732115458e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0510908396099694e-05, + "observation_loss": 9.689920261735097e-06, + "chamfer": 7.448069482052233e-06, + "track": 2.2418503249355126e-06, + "acceleration": 8.209883617382729e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0089868737850338e-05, + "observation_loss": 9.595251867722254e-06, + "chamfer": 7.377723250101553e-06, + "track": 2.2175288449943764e-06, + "acceleration": 4.94616870128084e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.745831448526587e-06, + "observation_loss": 9.519238119537476e-06, + "chamfer": 7.324290891119745e-06, + "track": 2.194947228417732e-06, + "acceleration": 2.2659354215193162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.59943554335041e-06, + "observation_loss": 9.334504284197465e-06, + "chamfer": 7.189631105575245e-06, + "track": 2.1448736333695706e-06, + "acceleration": 2.649310317792697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.71497138380073e-06, + "observation_loss": 9.24257437873166e-06, + "chamfer": 7.1182180363393854e-06, + "track": 2.124356797139626e-06, + "acceleration": 4.7239669243026583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2901070476800669e-05, + "observation_loss": 9.34692616283428e-06, + "chamfer": 7.164303951867623e-06, + "track": 2.182622210966656e-06, + "acceleration": 3.554144541340065e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2309953490330372e-05, + "observation_loss": 9.57988049776759e-06, + "chamfer": 7.318341886275448e-06, + "track": 2.2615388388658175e-06, + "acceleration": 2.730072992562782e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0451994967297651e-05, + "observation_loss": 9.541508006805088e-06, + "chamfer": 7.298328455362935e-06, + "track": 2.2431793240684783e-06, + "acceleration": 9.104871310228191e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0416430086479522e-05, + "observation_loss": 9.61394289333839e-06, + "chamfer": 7.33426622900879e-06, + "track": 2.2796766643295996e-06, + "acceleration": 8.024875342016458e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0028591532318387e-05, + "observation_loss": 9.709791811474133e-06, + "chamfer": 7.3941441769420635e-06, + "track": 2.3156476345320698e-06, + "acceleration": 3.187995218922879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0077744263981003e-05, + "observation_loss": 9.846052307693753e-06, + "chamfer": 7.466369879693957e-06, + "track": 2.379682655373472e-06, + "acceleration": 2.316922973477631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0232006388832815e-05, + "observation_loss": 9.995963409892283e-06, + "chamfer": 7.538414138252847e-06, + "track": 2.4575492716394365e-06, + "acceleration": 2.3604266630172788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0315978215658106e-05, + "observation_loss": 1.0215527254331391e-05, + "chamfer": 7.681243005208671e-06, + "track": 2.5342844764963957e-06, + "acceleration": 1.0045088316701367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0623742127791047e-05, + "observation_loss": 1.0532254236750305e-05, + "chamfer": 7.900152013462503e-06, + "track": 2.632102223287802e-06, + "acceleration": 9.14875215585198e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0872802704398055e-05, + "observation_loss": 1.075008822226664e-05, + "chamfer": 8.046782568271738e-06, + "track": 2.7033058813685784e-06, + "acceleration": 1.227147521376537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0956769074255135e-05, + "observation_loss": 1.0831296094693244e-05, + "chamfer": 8.086401066975668e-06, + "track": 2.7448950277175754e-06, + "acceleration": 1.2547275218821596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.105176761484472e-05, + "observation_loss": 1.0901504538196605e-05, + "chamfer": 8.12933922134107e-06, + "track": 2.7721655442292104e-06, + "acceleration": 1.5026301980469725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1155450920341536e-05, + "observation_loss": 1.0996449418598786e-05, + "chamfer": 8.181995326594915e-06, + "track": 2.81445363725652e-06, + "acceleration": 1.5900107541710895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1104591976618394e-05, + "observation_loss": 1.1006634849763941e-05, + "chamfer": 8.177918971341569e-06, + "track": 2.828715878422372e-06, + "acceleration": 9.795720501415417e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1263343367318157e-05, + "observation_loss": 1.0997902791132219e-05, + "chamfer": 8.170370165316854e-06, + "track": 2.8275321710680146e-06, + "acceleration": 2.654402351254248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.121354398492258e-05, + "observation_loss": 1.1074417670897674e-05, + "chamfer": 8.21334106149152e-06, + "track": 2.861076382032479e-06, + "acceleration": 1.3912651297687262e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1248306691413745e-05, + "observation_loss": 1.1151304533996154e-05, + "chamfer": 8.247903679148294e-06, + "track": 2.903400627474184e-06, + "acceleration": 9.700197267648036e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1300785445200745e-05, + "observation_loss": 1.1211608580197208e-05, + "chamfer": 8.285328476631548e-06, + "track": 2.926280330939335e-06, + "acceleration": 8.917717764234112e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1370782885933295e-05, + "observation_loss": 1.1290649126749486e-05, + "chamfer": 8.32758450997062e-06, + "track": 2.96306438940519e-06, + "acceleration": 8.013418550945062e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1351196917530615e-05, + "observation_loss": 1.1245932000747416e-05, + "chamfer": 8.30363842396764e-06, + "track": 2.9422938041534508e-06, + "acceleration": 1.0526488836148928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1182391062902752e-05, + "observation_loss": 1.1090345651609823e-05, + "chamfer": 8.2053802543669e-06, + "track": 2.884965169869247e-06, + "acceleration": 9.204511286498018e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.236900242764023e-06, + "chamfer_mean": 5.627920411181246e-06, + "track_mean": 1.5316515134718618e-06, + "acceleration_mean": 1.0773283181479225e-06, + "observation_score": 7.159571910146194e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4291616860009526 + }, + "score_arrays_file": "pass_scores/pass_end_0321.npz", + "score_arrays_sha256": "946b3792698139c4b4ebf4d1b40a83e7a3e53e6f05fca1c0c0fd08c26cc33360" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0322.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0322.json new file mode 100644 index 0000000000000000000000000000000000000000..f279fcf3aa8234828db72dbb9e8ccc10d0dc5170 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0322.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 30912, + "completed_passes": 322, + "snapshot": "pass_end_0322", + "candidate": true, + "snapshot_arrays_sha256": "fc0cb588d60d8289ba49509521a3c4ccd425f94ab87e384d67481156c6b3175b", + "score": 7.155857886687045e-06, + "score_result": { + "score": 7.155857886687045e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8723202376568224e-06, + 3.1555857731291326e-06, + 3.2556220048718387e-06, + 3.689891400426859e-06, + 4.208101017866284e-06, + 4.4255666580284014e-06, + 4.179878033028217e-06, + 4.02939394916757e-06, + 3.971409114456037e-06, + 4.07448078476591e-06, + 4.452935172594152e-06, + 4.9114478315459564e-06, + 5.2201371545379516e-06, + 5.427307769423351e-06, + 5.423592938313959e-06, + 5.313107521942584e-06, + 4.95443828185671e-06, + 4.567974428937305e-06, + 4.387780791148543e-06, + 4.374875970825087e-06, + 4.330362571636215e-06, + 4.209482995065628e-06, + 4.1359776332683396e-06, + 4.138057192903943e-06, + 4.174592049821513e-06, + 4.366932898847153e-06, + 4.769548468175344e-06, + 5.01351951243123e-06, + 5.00233090861002e-06, + 4.954527412337484e-06, + 5.091379534860607e-06, + 5.320563104760367e-06, + 5.582369340118021e-06, + 5.819199031975586e-06, + 5.891834916837979e-06, + 5.992367277940502e-06, + 6.241079518076731e-06, + 6.365377430483932e-06, + 6.064183253329247e-06, + 5.6244825827889144e-06, + 5.5319837883871514e-06, + 5.798352503916249e-06, + 5.992790647724178e-06, + 6.174449026730144e-06, + 6.251119884836953e-06, + 6.308709089353215e-06, + 6.45418049316504e-06, + 6.919958195794607e-06, + 7.536094926763326e-06, + 7.92573337093927e-06, + 7.779236511851195e-06, + 7.533320058428217e-06, + 7.319521500903647e-06, + 7.134833595046075e-06, + 7.117970199033152e-06, + 7.156714673328679e-06, + 7.22155209587072e-06, + 7.288826964213513e-06, + 7.357083632086869e-06, + 7.488355095119914e-06, + 7.639045179530513e-06, + 7.792760698066559e-06, + 8.140360478137154e-06, + 8.630165211798158e-06, + 9.204806701745838e-06, + 9.522186701360624e-06, + 9.739722372614779e-06, + 9.945904821506701e-06, + 1.005274953058688e-05, + 9.953852895705495e-06, + 9.692407729744446e-06, + 9.596931704436429e-06, + 9.519817467662506e-06, + 9.33348655962618e-06, + 9.238535312761087e-06, + 9.340366887045093e-06, + 9.574280738888774e-06, + 9.53897961153416e-06, + 9.609050721337553e-06, + 9.702725037641358e-06, + 9.838339792622719e-06, + 9.986424629460089e-06, + 1.0204865247942507e-05, + 1.0519508577999659e-05, + 1.073658131645061e-05, + 1.0817169822985306e-05, + 1.0887155440286733e-05, + 1.0981819286826067e-05, + 1.099189648812171e-05, + 1.098292432288872e-05, + 1.1059399184887297e-05, + 1.1136219654872548e-05, + 1.1196142622793559e-05, + 1.1274791177129373e-05, + 1.1230564268771559e-05, + 1.1075618203904014e-05 + ] + ], + "episode_mean_losses": [ + 7.155857886687045e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8723202376568224e-06, + "observation_loss": 2.8723202376568224e-06, + "chamfer": 2.436410341033479e-06, + "track": 4.359098682016338e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.147430809098296e-05, + "observation_loss": 3.1555857731291326e-06, + "chamfer": 2.6687730496632867e-06, + "track": 4.868127234658459e-07, + "acceleration": 3.83187216357328e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3135571609600447e-05, + "observation_loss": 3.2556220048718387e-06, + "chamfer": 2.7567568849917734e-06, + "track": 4.988651198800653e-07, + "acceleration": 1.9879949832102284e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0111336450790986e-05, + "observation_loss": 3.689891400426859e-06, + "chamfer": 3.112061904175789e-06, + "track": 5.778295530944888e-07, + "acceleration": 6.421445050364127e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.829311703564599e-06, + "observation_loss": 4.208101017866284e-06, + "chamfer": 3.529894456733018e-06, + "track": 6.782066748201032e-07, + "acceleration": 1.6212105720114778e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5261921261262614e-06, + "observation_loss": 4.4255666580284014e-06, + "chamfer": 3.703243010022561e-06, + "track": 7.223235343190026e-07, + "acceleration": 1.1006253544110223e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.826280928682536e-06, + "observation_loss": 4.179878033028217e-06, + "chamfer": 3.5028897400479764e-06, + "track": 6.769884066670784e-07, + "acceleration": 6.464028388109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.587133844324853e-06, + "observation_loss": 4.02939394916757e-06, + "chamfer": 3.3823603189375717e-06, + "track": 6.47033800760255e-07, + "acceleration": 5.577396677836077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4409266592992935e-06, + "observation_loss": 3.971409114456037e-06, + "chamfer": 3.338498800076195e-06, + "track": 6.329103712232609e-07, + "acceleration": 4.6951771537351306e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.377449840831105e-06, + "observation_loss": 4.07448078476591e-06, + "chamfer": 3.423135012781131e-06, + "track": 6.513456582979416e-07, + "acceleration": 3.0296899922177545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.587299372360576e-06, + "observation_loss": 4.452935172594152e-06, + "chamfer": 3.7312433960323688e-06, + "track": 7.216918334052025e-07, + "acceleration": 1.3436425660984241e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 5.002339548809687e-06, + "observation_loss": 4.9114478315459564e-06, + "chamfer": 4.099436864635209e-06, + "track": 8.120110805975855e-07, + "acceleration": 9.089169594744817e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.311047061695717e-06, + "observation_loss": 5.2201371545379516e-06, + "chamfer": 4.353243639343418e-06, + "track": 8.668934015076957e-07, + "acceleration": 9.09097224166544e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.531584520213073e-06, + "observation_loss": 5.427307769423351e-06, + "chamfer": 4.529669240582734e-06, + "track": 8.976383583103598e-07, + "acceleration": 1.0427693553083373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.483340828504879e-06, + "observation_loss": 5.423592938313959e-06, + "chamfer": 4.53038001069217e-06, + "track": 8.932128707783704e-07, + "acceleration": 5.974789019091986e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.435037564893719e-06, + "observation_loss": 5.313107521942584e-06, + "chamfer": 4.44014494860312e-06, + "track": 8.729624596526264e-07, + "acceleration": 1.2193018505968212e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.157929081178736e-06, + "observation_loss": 4.95443828185671e-06, + "chamfer": 4.145970251556719e-06, + "track": 8.084680302999914e-07, + "acceleration": 2.03490941430573e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.87637635160354e-06, + "observation_loss": 4.567974428937305e-06, + "chamfer": 3.826830379694002e-06, + "track": 7.411442197735596e-07, + "acceleration": 3.0840186582281603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.552187874651281e-06, + "observation_loss": 4.387780791148543e-06, + "chamfer": 3.6750088838743977e-06, + "track": 7.127719072741456e-07, + "acceleration": 1.644068845507718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.563562015391653e-06, + "observation_loss": 4.374875970825087e-06, + "chamfer": 3.660279617179185e-06, + "track": 7.145965241761587e-07, + "acceleration": 1.8868622930767742e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.617285412678029e-06, + "observation_loss": 4.330362571636215e-06, + "chamfer": 3.6221538266545394e-06, + "track": 7.082086881382565e-07, + "acceleration": 2.869227841983957e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.486828402150422e-06, + "observation_loss": 4.209482995065628e-06, + "chamfer": 3.5231169022154063e-06, + "track": 6.863661496936402e-07, + "acceleration": 2.7734543550650415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.669389454647899e-06, + "observation_loss": 4.1359776332683396e-06, + "chamfer": 3.4676904760999605e-06, + "track": 6.682870434815413e-07, + "acceleration": 5.33411878222978e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.025415248383069e-06, + "observation_loss": 4.138057192903943e-06, + "chamfer": 3.4656138723221375e-06, + "track": 6.724430932081304e-07, + "acceleration": 8.873581691659638e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.852369784202892e-06, + "observation_loss": 4.174592049821513e-06, + "chamfer": 3.4790646168403327e-06, + "track": 6.955273761377612e-07, + "acceleration": 6.777776206945418e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.741800239571603e-06, + "observation_loss": 4.366932898847153e-06, + "chamfer": 3.6202829960529925e-06, + "track": 7.466499596375797e-07, + "acceleration": 3.748675112547062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.068322934675962e-06, + "observation_loss": 4.769548468175344e-06, + "chamfer": 3.9253859540622216e-06, + "track": 8.441626277999603e-07, + "acceleration": 2.987745233440364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.228774625720689e-06, + "observation_loss": 5.01351951243123e-06, + "chamfer": 4.111336693313206e-06, + "track": 9.021830464917002e-07, + "acceleration": 2.1525502802433039e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.345554200175684e-06, + "observation_loss": 5.00233090861002e-06, + "chamfer": 4.106745109311305e-06, + "track": 8.955856287684583e-07, + "acceleration": 3.432233768307924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2218038035789505e-06, + "observation_loss": 4.954527412337484e-06, + "chamfer": 4.079511199961416e-06, + "track": 8.750162692194863e-07, + "acceleration": 2.672765333500138e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.348613740352448e-06, + "observation_loss": 5.091379534860607e-06, + "chamfer": 4.197254838800291e-06, + "track": 8.941246960603166e-07, + "acceleration": 2.572341770701314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.710807727155043e-06, + "observation_loss": 5.320563104760367e-06, + "chamfer": 4.380637165013468e-06, + "track": 9.399258829034807e-07, + "acceleration": 3.9024467923809425e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.221920557436533e-06, + "observation_loss": 5.582369340118021e-06, + "chamfer": 4.589831860357663e-06, + "track": 9.925377071340336e-07, + "acceleration": 6.395514446921879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.242414994834689e-06, + "observation_loss": 5.819199031975586e-06, + "chamfer": 4.768673079524888e-06, + "track": 1.050526066137536e-06, + "acceleration": 1.4232159628591035e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.383717274933588e-06, + "observation_loss": 5.891834916837979e-06, + "chamfer": 4.822079063160345e-06, + "track": 1.0697558536776341e-06, + "acceleration": 1.491882585469284e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.886828487040475e-06, + "observation_loss": 5.992367277940502e-06, + "chamfer": 4.880557753494941e-06, + "track": 1.111809410758724e-06, + "acceleration": 8.944613796302292e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.0514852268388495e-06, + "observation_loss": 6.241079518076731e-06, + "chamfer": 5.051001608080696e-06, + "track": 1.1900780236828723e-06, + "acceleration": 8.104057087621186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.152409580157837e-06, + "observation_loss": 6.365377430483932e-06, + "chamfer": 5.150777724338695e-06, + "track": 1.214599819832074e-06, + "acceleration": 7.870320928304864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.592982117581414e-06, + "observation_loss": 6.064183253329247e-06, + "chamfer": 4.934851858706679e-06, + "track": 1.1293311672488926e-06, + "acceleration": 5.287986937219102e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.87883641856024e-06, + "observation_loss": 5.6244825827889144e-06, + "chamfer": 4.594666279444937e-06, + "track": 1.0298164170308155e-06, + "acceleration": 2.5435397787987313e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.830947884533089e-06, + "observation_loss": 5.5319837883871514e-06, + "chamfer": 4.520226866588928e-06, + "track": 1.011756808111386e-06, + "acceleration": 2.9896432351961266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.038907486072276e-06, + "observation_loss": 5.798352503916249e-06, + "chamfer": 4.713329417427303e-06, + "track": 1.0850229728021077e-06, + "acceleration": 2.4055484004747996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.090457645768765e-06, + "observation_loss": 5.992790647724178e-06, + "chamfer": 4.8455440264660865e-06, + "track": 1.147246734944929e-06, + "acceleration": 9.766691277945938e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.224477601790568e-06, + "observation_loss": 6.174449026730144e-06, + "chamfer": 4.978351171303075e-06, + "track": 1.1960977417402319e-06, + "acceleration": 5.002840808288056e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.32836417935323e-06, + "observation_loss": 6.251119884836953e-06, + "chamfer": 5.032678018324077e-06, + "track": 1.2184416391392006e-06, + "acceleration": 7.724430162170393e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.4440423557243776e-06, + "observation_loss": 6.308709089353215e-06, + "chamfer": 5.075882654637098e-06, + "track": 1.232826662089792e-06, + "acceleration": 1.3533328058201732e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.6479733504820615e-06, + "observation_loss": 6.45418049316504e-06, + "chamfer": 5.190504907659488e-06, + "track": 1.2636754718187149e-06, + "acceleration": 1.9379304205813241e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.0831233642820735e-06, + "observation_loss": 6.919958195794607e-06, + "chamfer": 5.5401665122190025e-06, + "track": 1.3797916835756041e-06, + "acceleration": 1.6316496953550086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.685703167226166e-06, + "observation_loss": 7.536094926763326e-06, + "chamfer": 5.973716270091245e-06, + "track": 1.5623785429852433e-06, + "acceleration": 1.4960778571548872e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.21305457066046e-06, + "observation_loss": 7.92573337093927e-06, + "chamfer": 6.2551680457545444e-06, + "track": 1.670564984124212e-06, + "acceleration": 2.873214839382854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.070076546573546e-06, + "observation_loss": 7.779236511851195e-06, + "chamfer": 6.159106305858586e-06, + "track": 1.620129864932096e-06, + "acceleration": 2.908399778789317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.799351806170307e-06, + "observation_loss": 7.533320058428217e-06, + "chamfer": 5.991453235765221e-06, + "track": 1.5418669363498338e-06, + "acceleration": 2.660313214164489e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.410164016619092e-06, + "observation_loss": 7.319521500903647e-06, + "chamfer": 5.831260295963148e-06, + "track": 1.4882609775668243e-06, + "acceleration": 9.064246597745296e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1837807809060905e-06, + "observation_loss": 7.134833595046075e-06, + "chamfer": 5.692572358384496e-06, + "track": 1.4422612366615795e-06, + "acceleration": 4.894707572589141e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1786457738198806e-06, + "observation_loss": 7.117970199033152e-06, + "chamfer": 5.6762751228234265e-06, + "track": 1.4416953035834013e-06, + "acceleration": 6.067556057587353e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2374159572063945e-06, + "observation_loss": 7.156714673328679e-06, + "chamfer": 5.695584150089417e-06, + "track": 1.4611305232392624e-06, + "acceleration": 8.07011772963051e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.265703061420936e-06, + "observation_loss": 7.22155209587072e-06, + "chamfer": 5.740535016229842e-06, + "track": 1.481017193327716e-06, + "acceleration": 4.4151139633186176e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.495351383113302e-06, + "observation_loss": 7.288826964213513e-06, + "chamfer": 5.776323177997256e-06, + "track": 1.5125038999030949e-06, + "acceleration": 2.0652429100209702e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.861916856199969e-06, + "observation_loss": 7.357083632086869e-06, + "chamfer": 5.8292580433771946e-06, + "track": 1.5278257023965125e-06, + "acceleration": 5.048335651736124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.51808363222517e-06, + "observation_loss": 7.488355095119914e-06, + "chamfer": 5.914338089496596e-06, + "track": 1.5740168919364805e-06, + "acceleration": 1.0297283097315812e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.117200534092262e-06, + "observation_loss": 7.639045179530513e-06, + "chamfer": 6.033079898770666e-06, + "track": 1.6059655081335222e-06, + "acceleration": 1.4781550135012367e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.665313544042874e-06, + "observation_loss": 7.792760698066559e-06, + "chamfer": 6.151374691398814e-06, + "track": 1.6413858929809066e-06, + "acceleration": 8.725525049158023e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.510038242093287e-06, + "observation_loss": 8.140360478137154e-06, + "chamfer": 6.404156465578126e-06, + "track": 1.736203785185353e-06, + "acceleration": 3.6967753658245783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.914862519304734e-06, + "observation_loss": 8.630165211798158e-06, + "chamfer": 6.7408409449853934e-06, + "track": 1.8893242668127641e-06, + "acceleration": 2.846977054105082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.323654012405314e-06, + "observation_loss": 9.204806701745838e-06, + "chamfer": 7.1325530370813794e-06, + "track": 2.072253892038134e-06, + "acceleration": 1.1884737460832184e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.612078429199755e-06, + "observation_loss": 9.522186701360624e-06, + "chamfer": 7.348756298597436e-06, + "track": 2.1734301753895124e-06, + "acceleration": 8.989133704062624e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0018161447078455e-05, + "observation_loss": 9.739722372614779e-06, + "chamfer": 7.49900800656178e-06, + "track": 2.2407141386793228e-06, + "acceleration": 2.784388470900012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0118828868144192e-05, + "observation_loss": 9.945904821506701e-06, + "chamfer": 7.615417416673154e-06, + "track": 2.330486950086197e-06, + "acceleration": 1.7292438769800356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0169522283831611e-05, + "observation_loss": 1.005274953058688e-05, + "chamfer": 7.675715096411295e-06, + "track": 2.377034206801909e-06, + "acceleration": 1.1677266797960328e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0285648386343382e-05, + "observation_loss": 9.953852895705495e-06, + "chamfer": 7.610605734953424e-06, + "track": 2.343247160752071e-06, + "acceleration": 3.317952348425024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0514097994018812e-05, + "observation_loss": 9.692407729744446e-06, + "chamfer": 7.449857093888568e-06, + "track": 2.2425504084822023e-06, + "acceleration": 8.216905484914605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0091236617881805e-05, + "observation_loss": 9.596931704436429e-06, + "chamfer": 7.379098406090634e-06, + "track": 2.217832843598444e-06, + "acceleration": 4.943049702887947e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.745044735609554e-06, + "observation_loss": 9.519817467662506e-06, + "chamfer": 7.324774287553737e-06, + "track": 2.195043180108769e-06, + "acceleration": 2.2522735321217624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.596242307452485e-06, + "observation_loss": 9.33348655962618e-06, + "chamfer": 7.188918971223757e-06, + "track": 2.1445678157760995e-06, + "acceleration": 2.6275620257365517e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.725095878820866e-06, + "observation_loss": 9.238535312761087e-06, + "chamfer": 7.115761036402546e-06, + "track": 2.1227740489848657e-06, + "acceleration": 4.865601681558474e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2952932593179867e-05, + "observation_loss": 9.340366887045093e-06, + "chamfer": 7.159498181863455e-06, + "track": 2.1808689325553132e-06, + "acceleration": 3.6125661608821247e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2279582733754069e-05, + "observation_loss": 9.574280738888774e-06, + "chamfer": 7.314387403312139e-06, + "track": 2.259893335576635e-06, + "acceleration": 2.7053019948652945e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.047649493557401e-05, + "observation_loss": 9.53897961153416e-06, + "chamfer": 7.296905550902011e-06, + "track": 2.2420740606321488e-06, + "acceleration": 9.375150966661749e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0412728443043306e-05, + "observation_loss": 9.609050721337553e-06, + "chamfer": 7.33072147340863e-06, + "track": 2.2783290205552476e-06, + "acceleration": 8.036777217057534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.002806493488606e-05, + "observation_loss": 9.702725037641358e-06, + "chamfer": 7.389347956632264e-06, + "track": 2.3133768536354182e-06, + "acceleration": 3.2533984040128416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0087708687933628e-05, + "observation_loss": 9.838339792622719e-06, + "chamfer": 7.461576387868263e-06, + "track": 2.376763404754456e-06, + "acceleration": 2.493687532023614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0233390639768913e-05, + "observation_loss": 9.986424629460089e-06, + "chamfer": 7.532286872447003e-06, + "track": 2.4541379843867617e-06, + "acceleration": 2.469663797910471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0304213901690673e-05, + "observation_loss": 1.0204865247942507e-05, + "chamfer": 7.674494554521516e-06, + "track": 2.530371148168342e-06, + "acceleration": 9.934829137137058e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0610438948788214e-05, + "observation_loss": 1.0519508577999659e-05, + "chamfer": 7.892112989793532e-06, + "track": 2.627396042953478e-06, + "acceleration": 9.093001551718771e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0857547749765217e-05, + "observation_loss": 1.073658131645061e-05, + "chamfer": 8.038274245336652e-06, + "track": 2.698307071113959e-06, + "acceleration": 1.209660069889651e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0940877473331057e-05, + "observation_loss": 1.0817169822985306e-05, + "chamfer": 8.0775425885804e-06, + "track": 2.7396272344049066e-06, + "acceleration": 1.2370804824968218e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.103651629819069e-05, + "observation_loss": 1.0887155440286733e-05, + "chamfer": 8.120318852888886e-06, + "track": 2.7668361326504964e-06, + "acceleration": 1.4936087211481208e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1139580237795599e-05, + "observation_loss": 1.0981819286826067e-05, + "chamfer": 8.172824891516939e-06, + "track": 2.8089941679354524e-06, + "acceleration": 1.5776089412611327e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1088440260209609e-05, + "observation_loss": 1.099189648812171e-05, + "chamfer": 8.168637577909976e-06, + "track": 2.8232584554643836e-06, + "acceleration": 9.654398525071883e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1246953363297507e-05, + "observation_loss": 1.098292432288872e-05, + "chamfer": 8.160945981217083e-06, + "track": 2.821978341671638e-06, + "acceleration": 2.6402872776998265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1197637832083274e-05, + "observation_loss": 1.1059399184887297e-05, + "chamfer": 8.20414334157249e-06, + "track": 2.8552562980621587e-06, + "acceleration": 1.382390024673441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1232775250391569e-05, + "observation_loss": 1.1136219654872548e-05, + "chamfer": 8.238771442847792e-06, + "track": 2.8974482120247558e-06, + "acceleration": 9.65559223686796e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1285237633273937e-05, + "observation_loss": 1.1196142622793559e-05, + "chamfer": 8.275935215351637e-06, + "track": 2.9202074074419215e-06, + "acceleration": 8.909463389272787e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1355064089002553e-05, + "observation_loss": 1.1274791177129373e-05, + "chamfer": 8.317954780068249e-06, + "track": 2.9568368518084753e-06, + "acceleration": 8.02728976623257e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1336043826304376e-05, + "observation_loss": 1.1230564268771559e-05, + "chamfer": 8.29441978567047e-06, + "track": 2.9361444831010886e-06, + "acceleration": 1.054797635902105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.116766725317575e-05, + "observation_loss": 1.1075618203904014e-05, + "chamfer": 8.196572707674932e-06, + "track": 2.879045268855407e-06, + "acceleration": 9.204910611515515e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.236391252580688e-06, + "chamfer_mean": 5.625388827941909e-06, + "track_mean": 1.5304690424618646e-06, + "acceleration_mean": 1.080533354532361e-06, + "observation_score": 7.155857886687045e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.3701908889997867 + }, + "score_arrays_file": "pass_scores/pass_end_0322.npz", + "score_arrays_sha256": "1ce4e6d029c47093ed8ee38d64dd674596a788ddea34b559256cda959035abb0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0323.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0323.json new file mode 100644 index 0000000000000000000000000000000000000000..25184656817c1169b5641fe928ae27b0718afdef --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0323.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31008, + "completed_passes": 323, + "snapshot": "pass_end_0323", + "candidate": true, + "snapshot_arrays_sha256": "de1fe4a24f8756e3e72a83beaaebc7ca626ac4ad89fe39007998c02e419f6fb8", + "score": 7.1537354576397165e-06, + "score_result": { + "score": 7.1537354576397165e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872315917556989e-06, + 3.1554200177197345e-06, + 3.2542218377784593e-06, + 3.688662673084764e-06, + 4.207008714729454e-06, + 4.424886355991475e-06, + 4.179056759312516e-06, + 4.027859176858328e-06, + 3.969487806898542e-06, + 4.072078809258528e-06, + 4.450284905033186e-06, + 4.908874871034641e-06, + 5.217493253439898e-06, + 5.424633855000138e-06, + 5.420967681857292e-06, + 5.310740107233869e-06, + 4.9518530431669205e-06, + 4.5654282985196915e-06, + 4.3853851821040735e-06, + 4.372943749331171e-06, + 4.328719569457462e-06, + 4.206917765259277e-06, + 4.1323769437440205e-06, + 4.135415110795293e-06, + 4.172464286966715e-06, + 4.365173481346574e-06, + 4.767751306644641e-06, + 5.008797870686976e-06, + 4.995188646716997e-06, + 4.947791239828803e-06, + 5.0881744755315594e-06, + 5.318805506249191e-06, + 5.584406608249992e-06, + 5.820069418405183e-06, + 5.89066576139885e-06, + 5.989973033138085e-06, + 6.24189988229773e-06, + 6.367267815221567e-06, + 6.066692549211439e-06, + 5.624288860417437e-06, + 5.529566351469839e-06, + 5.79481366003165e-06, + 5.990394583932357e-06, + 6.172859229991445e-06, + 6.249964371818351e-06, + 6.307575858954806e-06, + 6.453967216657475e-06, + 6.920613941474585e-06, + 7.537983492511557e-06, + 7.927617843961343e-06, + 7.781074600643478e-06, + 7.535849817941198e-06, + 7.32226226318744e-06, + 7.137466127460357e-06, + 7.119875135686016e-06, + 7.157892923714826e-06, + 7.222830390674062e-06, + 7.290757821465377e-06, + 7.359152732533403e-06, + 7.4913250500685535e-06, + 7.642521268280689e-06, + 7.797361831762828e-06, + 8.146418622345664e-06, + 8.638142389827408e-06, + 9.214089004672132e-06, + 9.532592230243608e-06, + 9.750855497259181e-06, + 9.957944712368771e-06, + 1.0065006790682673e-05, + 9.965752724383492e-06, + 9.702836905489676e-06, + 9.606644198356662e-06, + 9.527831025479827e-06, + 9.338986274087802e-06, + 9.238421625923365e-06, + 9.335990398540162e-06, + 9.568909263180103e-06, + 9.53611743170768e-06, + 9.60315992415417e-06, + 9.694107575342059e-06, + 9.829000191530213e-06, + 9.975535249395762e-06, + 1.019321189232869e-05, + 1.0506213584449142e-05, + 1.0722199476731475e-05, + 1.0802074939419981e-05, + 1.0872375241888221e-05, + 1.0966368790832348e-05, + 1.0975963959936053e-05, + 1.0966417903546244e-05, + 1.1043089216400404e-05, + 1.1119236660306342e-05, + 1.1179098692082334e-05, + 1.1257099686190486e-05, + 1.121248715207912e-05, + 1.1058255040552467e-05 + ] + ], + "episode_mean_losses": [ + 7.1537354576397165e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872315917556989e-06, + "observation_loss": 2.872315917556989e-06, + "chamfer": 2.436396471239277e-06, + "track": 4.35919389474293e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.148033622186631e-05, + "observation_loss": 3.1554200177197345e-06, + "chamfer": 2.6686266210163012e-06, + "track": 4.867933398600144e-07, + "acceleration": 3.832491711364128e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3129092369345017e-05, + "observation_loss": 3.2542218377784593e-06, + "chamfer": 2.7555925043998286e-06, + "track": 4.986292765352118e-07, + "acceleration": 1.9874871213687584e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0107620255439542e-05, + "observation_loss": 3.688662673084764e-06, + "chamfer": 3.1110378131415928e-06, + "track": 5.776249167865899e-07, + "acceleration": 6.418958037102129e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.81960102863377e-06, + "observation_loss": 4.207008714729454e-06, + "chamfer": 3.528981778799789e-06, + "track": 6.780271633033408e-07, + "acceleration": 1.612592427591153e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.52367782802321e-06, + "observation_loss": 4.424886355991475e-06, + "chamfer": 3.7026491099823033e-06, + "track": 7.222374165394285e-07, + "acceleration": 1.0987912446580594e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.8238830459013116e-06, + "observation_loss": 4.179056759312516e-06, + "chamfer": 3.502160097923479e-06, + "track": 6.768966045456182e-07, + "acceleration": 6.448261160585389e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.587611329043284e-06, + "observation_loss": 4.027859176858328e-06, + "chamfer": 3.3810376862675184e-06, + "track": 6.468213200605533e-07, + "acceleration": 5.597522090283746e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4400853767001536e-06, + "observation_loss": 3.969487806898542e-06, + "chamfer": 3.3368662570865126e-06, + "track": 6.326213224383537e-07, + "acceleration": 4.705974276930647e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.375666776468279e-06, + "observation_loss": 4.072078809258528e-06, + "chamfer": 3.4211275306006428e-06, + "track": 6.50951392344723e-07, + "acceleration": 3.0358782510120363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.5849419620935805e-06, + "observation_loss": 4.450284905033186e-06, + "chamfer": 3.729056061274605e-06, + "track": 7.212289574454189e-07, + "acceleration": 1.34656929162702e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.999703378416598e-06, + "observation_loss": 4.908874871034641e-06, + "chamfer": 4.097335477126762e-06, + "track": 8.115393370644597e-07, + "acceleration": 9.08285784362306e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.308797881298233e-06, + "observation_loss": 5.217493253439898e-06, + "chamfer": 4.351084498921409e-06, + "track": 8.664088113619073e-07, + "acceleration": 9.130482681030117e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.529121608560672e-06, + "observation_loss": 5.424633855000138e-06, + "chamfer": 4.527498276729602e-06, + "track": 8.971353508968605e-07, + "acceleration": 1.0448764697912338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.480869276652811e-06, + "observation_loss": 5.420967681857292e-06, + "chamfer": 4.52825133834267e-06, + "track": 8.927165140448778e-07, + "acceleration": 5.99014242652629e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.432822490547551e-06, + "observation_loss": 5.310740107233869e-06, + "chamfer": 4.438225005287677e-06, + "track": 8.725149314159353e-07, + "acceleration": 1.2208249700051965e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.155195594852557e-06, + "observation_loss": 4.9518530431669205e-06, + "chamfer": 4.143852947890991e-06, + "track": 8.080000384325103e-07, + "acceleration": 2.033424095770897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.874626029049978e-06, + "observation_loss": 4.5654282985196915e-06, + "chamfer": 3.8247526390478015e-06, + "track": 7.406758300021465e-07, + "acceleration": 3.091977305302862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.550018275040202e-06, + "observation_loss": 4.3853851821040735e-06, + "chamfer": 3.6730209558299975e-06, + "track": 7.123643399609136e-07, + "acceleration": 1.6463290819501708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.56083125754958e-06, + "observation_loss": 4.372943749331171e-06, + "chamfer": 3.6586659462045645e-06, + "track": 7.142778031266062e-07, + "acceleration": 1.878874087424265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.616221758624306e-06, + "observation_loss": 4.328719569457462e-06, + "chamfer": 3.620796178438468e-06, + "track": 7.079235615492507e-07, + "acceleration": 2.875020186365873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.485506451601395e-06, + "observation_loss": 4.206917765259277e-06, + "chamfer": 3.5210075566283194e-06, + "track": 6.859100381007011e-07, + "acceleration": 2.785888852940843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.680616257246584e-06, + "observation_loss": 4.1323769437440205e-06, + "chamfer": 3.4647130178200314e-06, + "track": 6.676640396108269e-07, + "acceleration": 5.482394840328197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.05390198668465e-06, + "observation_loss": 4.135415110795293e-06, + "chamfer": 3.463426310190698e-06, + "track": 6.719886300743383e-07, + "acceleration": 9.184867622025195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.867370080319233e-06, + "observation_loss": 4.172464286966715e-06, + "chamfer": 3.47727541338827e-06, + "track": 6.951888735784451e-07, + "acceleration": 6.949057933525182e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.742151304526487e-06, + "observation_loss": 4.365173481346574e-06, + "chamfer": 3.6188071135256905e-06, + "track": 7.463664815077209e-07, + "acceleration": 3.7697788002333255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0661888053582516e-06, + "observation_loss": 4.767751306644641e-06, + "chamfer": 3.923982603737386e-06, + "track": 8.437686460638361e-07, + "acceleration": 2.984375271353201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.2276072892709635e-06, + "observation_loss": 5.008797870686976e-06, + "chamfer": 4.107644599571358e-06, + "track": 9.011533279590367e-07, + "acceleration": 2.188094470056967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.350052560970653e-06, + "observation_loss": 4.995188646716997e-06, + "chamfer": 4.101046670257347e-06, + "track": 8.94142090146488e-07, + "acceleration": 3.5486394267536525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2273189794505015e-06, + "observation_loss": 4.947791239828803e-06, + "chamfer": 4.074086518812692e-06, + "track": 8.737047210161109e-07, + "acceleration": 2.795277680434083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.336265076039126e-06, + "observation_loss": 5.0881744755315594e-06, + "chamfer": 4.194642315269448e-06, + "track": 8.935319328884361e-07, + "acceleration": 2.4809062892927614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.678823981725145e-06, + "observation_loss": 5.318805506249191e-06, + "chamfer": 4.3792006181320176e-06, + "track": 9.396047175869171e-07, + "acceleration": 3.6001870284962934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.125340860307915e-06, + "observation_loss": 5.584406608249992e-06, + "chamfer": 4.591418928612256e-06, + "track": 9.929876796377357e-07, + "acceleration": 5.409341383710853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 7.085083325364394e-06, + "observation_loss": 5.820069418405183e-06, + "chamfer": 4.769737188325962e-06, + "track": 1.0503322300792206e-06, + "acceleration": 1.2650140206460492e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.222635758807883e-06, + "observation_loss": 5.89066576139885e-06, + "chamfer": 4.821823495149147e-06, + "track": 1.0688421525628655e-06, + "acceleration": 1.3319697700353572e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.895591923239408e-06, + "observation_loss": 5.989973033138085e-06, + "chamfer": 4.879407697444549e-06, + "track": 1.1105651083198609e-06, + "acceleration": 9.056190037881606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.095745786500629e-06, + "observation_loss": 6.24189988229773e-06, + "chamfer": 5.052021606388735e-06, + "track": 1.1898781622221577e-06, + "acceleration": 8.538459610463178e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.1965901042858604e-06, + "observation_loss": 6.367267815221567e-06, + "chamfer": 5.152224275661865e-06, + "track": 1.215043766933377e-06, + "acceleration": 8.29322175377456e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.656751338596223e-06, + "observation_loss": 6.066692549211439e-06, + "chamfer": 4.936708137392998e-06, + "track": 1.1299846391921164e-06, + "acceleration": 5.900587325413653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.886469807592221e-06, + "observation_loss": 5.624288860417437e-06, + "chamfer": 4.594522124534706e-06, + "track": 1.0297666221958934e-06, + "acceleration": 2.621811461267498e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.830956979480106e-06, + "observation_loss": 5.529566351469839e-06, + "chamfer": 4.518362402450293e-06, + "track": 1.011203835332708e-06, + "acceleration": 3.01390798540524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.039340860297671e-06, + "observation_loss": 5.79481366003165e-06, + "chamfer": 4.710497250925982e-06, + "track": 1.0843166364793433e-06, + "acceleration": 2.445271434226015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.088532245485112e-06, + "observation_loss": 5.990394583932357e-06, + "chamfer": 4.843630449613556e-06, + "track": 1.146764020631963e-06, + "acceleration": 9.813762602561837e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.223066066013416e-06, + "observation_loss": 6.172859229991445e-06, + "chamfer": 4.977077878720593e-06, + "track": 1.1957814649576903e-06, + "acceleration": 5.0206928392526606e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.327049959509168e-06, + "observation_loss": 6.249964371818351e-06, + "chamfer": 5.0317635214014445e-06, + "track": 1.2182007367300685e-06, + "acceleration": 7.708550953111626e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.442438461817801e-06, + "observation_loss": 6.307575858954806e-06, + "chamfer": 5.074970886198571e-06, + "track": 1.2326052001299104e-06, + "acceleration": 1.3486244654359325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.647960617556237e-06, + "observation_loss": 6.453967216657475e-06, + "chamfer": 5.190292540646624e-06, + "track": 1.2636744486371754e-06, + "acceleration": 1.9399324457936018e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.084463959472487e-06, + "observation_loss": 6.920613941474585e-06, + "chamfer": 5.5406590036000125e-06, + "track": 1.3799549378745724e-06, + "acceleration": 1.638502169498679e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.68800327932695e-06, + "observation_loss": 7.537983492511557e-06, + "chamfer": 5.9751318985945545e-06, + "track": 1.562851593917003e-06, + "acceleration": 1.5001978681539185e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.214852641685866e-06, + "observation_loss": 7.927617843961343e-06, + "chamfer": 6.256532287807204e-06, + "track": 1.671085669840977e-06, + "acceleration": 2.872345703508472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.072064701991621e-06, + "observation_loss": 7.781074600643478e-06, + "chamfer": 6.160525117593352e-06, + "track": 1.6205495967369643e-06, + "acceleration": 2.9099047083036567e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.8029388532741e-06, + "observation_loss": 7.535849817941198e-06, + "chamfer": 5.993454124109121e-06, + "track": 1.542395693832077e-06, + "acceleration": 2.6708906375461083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.41340500098886e-06, + "observation_loss": 7.32226226318744e-06, + "chamfer": 5.833358500240138e-06, + "track": 1.48890387663414e-06, + "acceleration": 9.114265253629128e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1859635681903455e-06, + "observation_loss": 7.137466127460357e-06, + "chamfer": 5.694635092368117e-06, + "track": 1.4428310350922402e-06, + "acceleration": 4.849740520285195e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.179908152465941e-06, + "observation_loss": 7.119875135686016e-06, + "chamfer": 5.6777212193992455e-06, + "track": 1.4421539162867703e-06, + "acceleration": 6.003288177680588e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.237889803946018e-06, + "observation_loss": 7.157892923714826e-06, + "chamfer": 5.6964540817716625e-06, + "track": 1.4614387282563257e-06, + "acceleration": 7.999673101721783e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.2667953645577654e-06, + "observation_loss": 7.222830390674062e-06, + "chamfer": 5.741458608099492e-06, + "track": 1.4813720099482452e-06, + "acceleration": 4.396498454184439e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.49687387724407e-06, + "observation_loss": 7.290757821465377e-06, + "chamfer": 5.777735168521758e-06, + "track": 1.5130224255699432e-06, + "acceleration": 2.0611619788724056e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.864156032155734e-06, + "observation_loss": 7.359152732533403e-06, + "chamfer": 5.830727332067909e-06, + "track": 1.5284251730918186e-06, + "acceleration": 5.050033564657497e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.521670679328963e-06, + "observation_loss": 7.4913250500685535e-06, + "chamfer": 5.9165204220335e-06, + "track": 1.5748045143482159e-06, + "acceleration": 1.0303457429472473e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.122042683884501e-06, + "observation_loss": 7.642521268280689e-06, + "chamfer": 6.035581009200541e-06, + "track": 1.606940372766985e-06, + "acceleration": 1.4795216429774882e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.671337127452716e-06, + "observation_loss": 7.797361831762828e-06, + "chamfer": 6.1547275436169e-06, + "track": 1.6426340607722523e-06, + "acceleration": 8.73975011472794e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.517044989275746e-06, + "observation_loss": 8.146418622345664e-06, + "chamfer": 6.408488843590021e-06, + "track": 1.7379297787556425e-06, + "acceleration": 3.706260542912787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.92302250576904e-06, + "observation_loss": 8.638142389827408e-06, + "chamfer": 6.746481631125789e-06, + "track": 1.8916609860752942e-06, + "acceleration": 2.8487986014624767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.333057278126944e-06, + "observation_loss": 9.214089004672132e-06, + "chamfer": 7.138911769288825e-06, + "track": 2.075177462756983e-06, + "acceleration": 1.1896864293703402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.622908692108467e-06, + "observation_loss": 9.532592230243608e-06, + "chamfer": 7.355946308962302e-06, + "track": 2.176645921281306e-06, + "acceleration": 9.031642633772208e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0030370503955055e-05, + "observation_loss": 9.750855497259181e-06, + "chamfer": 7.506860583816888e-06, + "track": 2.2439951408159686e-06, + "acceleration": 2.7951537617809663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0131169801752549e-05, + "observation_loss": 9.957944712368771e-06, + "chamfer": 7.624015324836364e-06, + "track": 2.333929614906083e-06, + "acceleration": 1.7322530254659796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0182208825426642e-05, + "observation_loss": 1.0065006790682673e-05, + "chamfer": 7.684442607569508e-06, + "track": 2.380564183113165e-06, + "acceleration": 1.172020844819599e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0297571861883625e-05, + "observation_loss": 9.965752724383492e-06, + "chamfer": 7.619063580932561e-06, + "track": 2.3466889160772553e-06, + "acceleration": 3.318194501389371e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.052499828801956e-05, + "observation_loss": 9.702836905489676e-06, + "chamfer": 7.457262654497754e-06, + "track": 2.2455740236182464e-06, + "acceleration": 8.221617804338166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0099572136823554e-05, + "observation_loss": 9.606644198356662e-06, + "chamfer": 7.3861292548826896e-06, + "track": 2.2205149434739724e-06, + "acceleration": 4.929276542497973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.750225217430852e-06, + "observation_loss": 9.527831025479827e-06, + "chamfer": 7.330530934268609e-06, + "track": 2.197299863837543e-06, + "acceleration": 2.2239410668589699e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.598232281859964e-06, + "observation_loss": 9.338986274087802e-06, + "chamfer": 7.192852535808925e-06, + "track": 2.1461335109052015e-06, + "acceleration": 2.5924589408532484e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.743557711772155e-06, + "observation_loss": 9.238421625923365e-06, + "chamfer": 7.116038432286587e-06, + "track": 2.1223829662631033e-06, + "acceleration": 5.051359721619519e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3020770893490408e-05, + "observation_loss": 9.335990398540162e-06, + "chamfer": 7.15631495040725e-06, + "track": 2.179674993385561e-06, + "acceleration": 3.684780494950246e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2246745427546557e-05, + "observation_loss": 9.568909263180103e-06, + "chamfer": 7.310572073038202e-06, + "track": 2.258336962768226e-06, + "acceleration": 2.677836164366454e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0503187695576344e-05, + "observation_loss": 9.53611743170768e-06, + "chamfer": 7.295328032341786e-06, + "track": 2.2407889446185436e-06, + "acceleration": 9.67070491242339e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0409146852907725e-05, + "observation_loss": 9.60315992415417e-06, + "chamfer": 7.326425929932157e-06, + "track": 2.2767342215956887e-06, + "acceleration": 8.059873835009057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.002949557005195e-05, + "observation_loss": 9.694107575342059e-06, + "chamfer": 7.383447609754512e-06, + "track": 2.310660420334898e-06, + "acceleration": 3.3538782417963375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0101474799739663e-05, + "observation_loss": 9.829000191530213e-06, + "chamfer": 7.455707418557722e-06, + "track": 2.373293000346166e-06, + "acceleration": 2.7247457978774037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0238938557449728e-05, + "observation_loss": 9.975535249395762e-06, + "chamfer": 7.525335604441352e-06, + "track": 2.450199872328085e-06, + "acceleration": 2.6340353542764205e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.02931981018628e-05, + "observation_loss": 1.019321189232869e-05, + "chamfer": 7.667019417567644e-06, + "track": 2.526192702134722e-06, + "acceleration": 9.998659322718595e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0596831089060288e-05, + "observation_loss": 1.0506213584449142e-05, + "chamfer": 7.88364741310943e-06, + "track": 2.622566171339713e-06, + "acceleration": 9.06171209180684e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0843812560779043e-05, + "observation_loss": 1.0722199476731475e-05, + "chamfer": 8.028995580389164e-06, + "track": 2.693203896342311e-06, + "acceleration": 1.2161352458406327e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.092599723051535e-05, + "observation_loss": 1.0802074939419981e-05, + "chamfer": 8.067921953625046e-06, + "track": 2.7341529857949354e-06, + "acceleration": 1.2392210635425727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1021075806638692e-05, + "observation_loss": 1.0872375241888221e-05, + "chamfer": 8.110837370622903e-06, + "track": 2.7615378712653182e-06, + "acceleration": 1.487001810573929e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.112366317101987e-05, + "observation_loss": 1.0966368790832348e-05, + "chamfer": 8.163039638020564e-06, + "track": 2.8033291528117843e-06, + "acceleration": 1.5729395386188116e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1071752851421479e-05, + "observation_loss": 1.0975963959936053e-05, + "chamfer": 8.158411219483241e-06, + "track": 2.817552740452811e-06, + "acceleration": 9.578866411175113e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1230773452552967e-05, + "observation_loss": 1.0966417903546244e-05, + "chamfer": 8.150458597810939e-06, + "track": 2.8159595331089804e-06, + "acceleration": 2.6435563427185116e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1182129128428642e-05, + "observation_loss": 1.1043089216400404e-05, + "chamfer": 8.193967914849054e-06, + "track": 2.849121074177674e-06, + "acceleration": 1.3903951412430615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1216279744985513e-05, + "observation_loss": 1.1119236660306342e-05, + "chamfer": 8.228224942286033e-06, + "track": 2.8910114906466333e-06, + "acceleration": 9.704287151635071e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1268128218944184e-05, + "observation_loss": 1.1179098692082334e-05, + "chamfer": 8.26550785859581e-06, + "track": 2.913590606112848e-06, + "acceleration": 8.902915737962758e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.133722525992198e-05, + "observation_loss": 1.1257099686190486e-05, + "chamfer": 8.307202733703889e-06, + "track": 2.949896497739246e-06, + "acceleration": 8.012532504153569e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1317842108837795e-05, + "observation_loss": 1.121248715207912e-05, + "chamfer": 8.283361239591613e-06, + "track": 2.9291263672348578e-06, + "acceleration": 1.0535497807495631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1150456884934101e-05, + "observation_loss": 1.1058255040552467e-05, + "chamfer": 8.186138074961491e-06, + "track": 2.8721165108436253e-06, + "acceleration": 9.220219965300203e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.233725289130689e-06, + "chamfer_mean": 5.62403560167013e-06, + "track_mean": 1.5296998411666134e-06, + "acceleration_mean": 1.0799898445545963e-06, + "observation_score": 7.1537354576397165e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.433300278000388 + }, + "score_arrays_file": "pass_scores/pass_end_0323.npz", + "score_arrays_sha256": "01438fab2a869b5979bddf0e6bacfd77fa92074f7b4f12e90e1883e2af1ce19a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0324.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0324.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4a3022a38cabe3d3c7a380891a626d2494e8a8 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0324.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31104, + "completed_passes": 324, + "snapshot": "pass_end_0324", + "candidate": true, + "snapshot_arrays_sha256": "d9ccfe7aafd8601a20da00d7edbef76212f9c32de2f3259c3f6224e41a39e68c", + "score": 7.14990611546303e-06, + "score_result": { + "score": 7.14990611546303e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872323648261954e-06, + 3.1552492600894766e-06, + 3.2528382689633872e-06, + 3.68735254596686e-06, + 4.206069661449874e-06, + 4.424551661941223e-06, + 4.178491053608013e-06, + 4.026391252409667e-06, + 3.967800239479402e-06, + 4.06975095756934e-06, + 4.44781426267582e-06, + 4.906186859443551e-06, + 5.2144541768939234e-06, + 5.421086825663224e-06, + 5.4173115131561644e-06, + 5.3072371883899905e-06, + 4.9484765440865885e-06, + 4.562004050967516e-06, + 4.382163297123043e-06, + 4.37072230852209e-06, + 4.327204806031659e-06, + 4.204206561553292e-06, + 4.127580723434221e-06, + 4.13130965171149e-06, + 4.169223302596947e-06, + 4.363318112154957e-06, + 4.7652165449108e-06, + 5.003447768103797e-06, + 4.987586635252228e-06, + 4.940497092320584e-06, + 5.083858468424296e-06, + 5.317299383023055e-06, + 5.587715804722393e-06, + 5.822981165692909e-06, + 5.8913365137414075e-06, + 5.988281827740138e-06, + 6.2406443248619325e-06, + 6.366045454342384e-06, + 6.067281447030837e-06, + 5.623125616693869e-06, + 5.526590939552989e-06, + 5.790081559098326e-06, + 5.9857420637854375e-06, + 6.170113920234144e-06, + 6.246754310268443e-06, + 6.304899216047488e-06, + 6.4518967519688886e-06, + 6.91964169163839e-06, + 7.537985311500961e-06, + 7.927018486952875e-06, + 7.780299711157568e-06, + 7.535789791290881e-06, + 7.322119472519262e-06, + 7.136603016988374e-06, + 7.118484063539654e-06, + 7.156064839364262e-06, + 7.2211341830552556e-06, + 7.289436325663701e-06, + 7.358334187301807e-06, + 7.491498763556592e-06, + 7.642789569217712e-06, + 7.798849765094928e-06, + 8.149779205268715e-06, + 8.643353794468567e-06, + 9.220712854585145e-06, + 9.540779501548968e-06, + 9.760077773535158e-06, + 9.968528502213303e-06, + 1.0076232683786657e-05, + 9.976195542549249e-06, + 9.71112876868574e-06, + 9.612859685148578e-06, + 9.531939213047735e-06, + 9.339789357909467e-06, + 9.232732736563776e-06, + 9.326599865744356e-06, + 9.558143574395217e-06, + 9.528451300866436e-06, + 9.592728929419536e-06, + 9.680747098173015e-06, + 9.815542398428079e-06, + 9.961257092072628e-06, + 1.0178453521803021e-05, + 1.0489062333363108e-05, + 1.0704924534366e-05, + 1.0784701771626715e-05, + 1.0855981599888764e-05, + 1.0948730050586164e-05, + 1.09584952951991e-05, + 1.0948037015623413e-05, + 1.102465012081666e-05, + 1.1100332812929992e-05, + 1.1160183021274861e-05, + 1.1237822945986409e-05, + 1.1193556929356419e-05, + 1.1039910532417707e-05 + ] + ], + "episode_mean_losses": [ + 7.14990611546303e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872323648261954e-06, + "observation_loss": 2.872323648261954e-06, + "chamfer": 2.4363926058867946e-06, + "track": 4.3593104237515945e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.148218431510031e-05, + "observation_loss": 3.1552492600894766e-06, + "chamfer": 2.668478828127263e-06, + "track": 4.867704319622135e-07, + "acceleration": 3.832693619187921e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.312168726348318e-05, + "observation_loss": 3.2528382689633872e-06, + "chamfer": 2.754442675723112e-06, + "track": 4.983955363968562e-07, + "acceleration": 1.9868848539772443e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0103225577040575e-05, + "observation_loss": 3.68735254596686e-06, + "chamfer": 3.10994619212579e-06, + "track": 5.774063538410701e-07, + "acceleration": 6.415872576326365e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.810286893392913e-06, + "observation_loss": 4.206069661449874e-06, + "chamfer": 3.528185061441036e-06, + "track": 6.778847705390945e-07, + "acceleration": 1.6042170045693638e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.522008905245457e-06, + "observation_loss": 4.424551661941223e-06, + "chamfer": 3.7023291952209547e-06, + "track": 7.222226372505247e-07, + "acceleration": 1.0974570159305586e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.822506980417529e-06, + "observation_loss": 4.178491053608013e-06, + "chamfer": 3.5016282708966173e-06, + "track": 6.768626121811394e-07, + "acceleration": 6.440159268095158e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.588282081385842e-06, + "observation_loss": 4.026391252409667e-06, + "chamfer": 3.3797566629800713e-06, + "track": 6.46634816803271e-07, + "acceleration": 5.618906584459182e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.438973064679885e-06, + "observation_loss": 3.967800239479402e-06, + "chamfer": 3.335418796268641e-06, + "track": 6.323813295239233e-07, + "acceleration": 4.711726546702266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.373182946437737e-06, + "observation_loss": 4.06975095756934e-06, + "chamfer": 3.4191712074971292e-06, + "track": 6.505798069156299e-07, + "acceleration": 3.034321309769439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.582833753374871e-06, + "observation_loss": 4.44781426267582e-06, + "chamfer": 3.7270119719323702e-06, + "track": 7.208024612737063e-07, + "acceleration": 1.350194338556321e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.997464202460833e-06, + "observation_loss": 4.906186859443551e-06, + "chamfer": 4.095129952474963e-06, + "track": 8.110567932817503e-07, + "acceleration": 9.127741407155554e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.306413640937535e-06, + "observation_loss": 5.2144541768939234e-06, + "chamfer": 4.348590209701797e-06, + "track": 8.658640808789642e-07, + "acceleration": 9.195968431185975e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.526111181097804e-06, + "observation_loss": 5.421086825663224e-06, + "chamfer": 4.5245897126733325e-06, + "track": 8.964969993030536e-07, + "acceleration": 1.0502446201599014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.477365448314231e-06, + "observation_loss": 5.4173115131561644e-06, + "chamfer": 4.525270014710259e-06, + "track": 8.920417258195812e-07, + "acceleration": 6.005396357977588e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.42929774383083e-06, + "observation_loss": 5.3072371883899905e-06, + "chamfer": 4.435362370713847e-06, + "track": 8.71874703989306e-07, + "acceleration": 1.2206042754314694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.151675395609345e-06, + "observation_loss": 4.9484765440865885e-06, + "chamfer": 4.141085355513496e-06, + "track": 8.073913591033488e-07, + "acceleration": 2.031989083661756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.871781584370183e-06, + "observation_loss": 4.562004050967516e-06, + "chamfer": 3.8219450289034285e-06, + "track": 7.400590789075068e-07, + "acceleration": 3.0977764708950417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.547053777059773e-06, + "observation_loss": 4.382163297123043e-06, + "chamfer": 3.6703338537336094e-06, + "track": 7.118294433894334e-07, + "acceleration": 1.6489049414758483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.557720785669517e-06, + "observation_loss": 4.37072230852209e-06, + "chamfer": 3.656793751360965e-06, + "track": 7.139287276913819e-07, + "acceleration": 1.8699857662340946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.61559784525889e-06, + "observation_loss": 4.327204806031659e-06, + "chamfer": 3.6195283428241964e-06, + "track": 7.076766905811382e-07, + "acceleration": 2.8839301080552104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.483989869186189e-06, + "observation_loss": 4.204206561553292e-06, + "chamfer": 3.518755875120405e-06, + "track": 6.854507432763057e-07, + "acceleration": 2.797834497414442e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.689926754508633e-06, + "observation_loss": 4.127580723434221e-06, + "chamfer": 3.4607246561790816e-06, + "track": 6.668561809419771e-07, + "acceleration": 5.623458037007367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.075992248748662e-06, + "observation_loss": 4.13130965171149e-06, + "chamfer": 3.46000820172776e-06, + "track": 6.713013362968923e-07, + "acceleration": 9.446827675674285e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.878218533121981e-06, + "observation_loss": 4.169223302596947e-06, + "chamfer": 3.4745382890832843e-06, + "track": 6.94684956670244e-07, + "acceleration": 7.089952305250335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.741226348414784e-06, + "observation_loss": 4.363318112154957e-06, + "chamfer": 3.617223228502553e-06, + "track": 7.460947131221474e-07, + "acceleration": 3.779083215249557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0619273679330945e-06, + "observation_loss": 4.7652165449108e-06, + "chamfer": 3.921932147932239e-06, + "track": 8.432845106653986e-07, + "acceleration": 2.967106240703288e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.223775588092394e-06, + "observation_loss": 5.003447768103797e-06, + "chamfer": 4.103409537492553e-06, + "track": 9.000382306112442e-07, + "acceleration": 2.2032787683201605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.352875632524956e-06, + "observation_loss": 4.987586635252228e-06, + "chamfer": 4.0949694266601e-06, + "track": 8.92617208592128e-07, + "acceleration": 3.6528911095956573e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2338759815029334e-06, + "observation_loss": 4.940497092320584e-06, + "chamfer": 4.068178441229975e-06, + "track": 8.723188784642844e-07, + "acceleration": 2.9337905971260625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.325306119630113e-06, + "observation_loss": 5.083858468424296e-06, + "chamfer": 4.191128482489148e-06, + "track": 8.927298154048913e-07, + "acceleration": 2.414474238321418e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6616954680066556e-06, + "observation_loss": 5.317299383023055e-06, + "chamfer": 4.37796552432701e-06, + "track": 9.393340292263019e-07, + "acceleration": 3.4439605656189087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.067943559173727e-06, + "observation_loss": 5.587715804722393e-06, + "chamfer": 4.594013262249064e-06, + "track": 9.937024287864915e-07, + "acceleration": 4.802277544513345e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.95935750627541e-06, + "observation_loss": 5.822981165692909e-06, + "chamfer": 4.772354259330314e-06, + "track": 1.0506270200494328e-06, + "acceleration": 1.1363763405825011e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.073917913658079e-06, + "observation_loss": 5.8913365137414075e-06, + "chamfer": 4.823028575628996e-06, + "track": 1.0683077107387362e-06, + "acceleration": 1.1825816272903467e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.963096438994398e-06, + "observation_loss": 5.988281827740138e-06, + "chamfer": 4.8788519961817656e-06, + "track": 1.1094298315583728e-06, + "acceleration": 9.748144975674222e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.169800937845139e-06, + "observation_loss": 6.2406443248619325e-06, + "chamfer": 5.051475000072969e-06, + "track": 1.1891694384758011e-06, + "acceleration": 9.291564992963686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.2518791967013385e-06, + "observation_loss": 6.366045454342384e-06, + "chamfer": 5.1513420658011455e-06, + "track": 1.2147036159149138e-06, + "acceleration": 8.858336286721169e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.7279797804076225e-06, + "observation_loss": 6.067281447030837e-06, + "chamfer": 4.9371219574823044e-06, + "track": 1.1301593758616946e-06, + "acceleration": 6.606982765333669e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.890256034035701e-06, + "observation_loss": 5.623125616693869e-06, + "chamfer": 4.593598987412406e-06, + "track": 1.029526629281463e-06, + "acceleration": 2.671303604984132e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.832319402543362e-06, + "observation_loss": 5.526590939552989e-06, + "chamfer": 4.5160545596445445e-06, + "track": 1.010536152534769e-06, + "acceleration": 3.057283777252451e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.040378139005043e-06, + "observation_loss": 5.790081559098326e-06, + "chamfer": 4.7067114792298526e-06, + "track": 1.0833699661816354e-06, + "acceleration": 2.5029666517184523e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.0845291045552585e-06, + "observation_loss": 5.9857420637854375e-06, + "chamfer": 4.839975645154482e-06, + "track": 1.1457664186309557e-06, + "acceleration": 9.87870123481116e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.222177489689784e-06, + "observation_loss": 6.170113920234144e-06, + "chamfer": 4.974941475666128e-06, + "track": 1.1951724445680156e-06, + "acceleration": 5.2063352740105984e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.323335128399776e-06, + "observation_loss": 6.246754310268443e-06, + "chamfer": 5.029258318245411e-06, + "track": 1.2174957646493567e-06, + "acceleration": 7.658068312821342e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.438021500798641e-06, + "observation_loss": 6.304899216047488e-06, + "chamfer": 5.07286722495337e-06, + "track": 1.232031991094118e-06, + "acceleration": 1.3312221369687904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.645094345003599e-06, + "observation_loss": 6.4518967519688886e-06, + "chamfer": 5.188622253626818e-06, + "track": 1.2632746120289085e-06, + "acceleration": 1.9319757882385602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.083772743499139e-06, + "observation_loss": 6.91964169163839e-06, + "chamfer": 5.5399182201654185e-06, + "track": 1.3797235851598089e-06, + "acceleration": 1.641310234390403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.688859113841318e-06, + "observation_loss": 7.537985311500961e-06, + "chamfer": 5.975112799205817e-06, + "track": 1.5628725122951437e-06, + "acceleration": 1.5087391602719435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.21412140794564e-06, + "observation_loss": 7.927018486952875e-06, + "chamfer": 6.256107553781476e-06, + "track": 1.6709111605450744e-06, + "acceleration": 2.8710337574011646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.071088814176619e-06, + "observation_loss": 7.780299711157568e-06, + "chamfer": 6.159973963804077e-06, + "track": 1.6203258610403282e-06, + "acceleration": 2.9078873353682866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.802633263054304e-06, + "observation_loss": 7.535789791290881e-06, + "chamfer": 5.993377726554172e-06, + "track": 1.542412064736709e-06, + "acceleration": 2.668434433417133e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.413602816086495e-06, + "observation_loss": 7.322119472519262e-06, + "chamfer": 5.833166596858064e-06, + "track": 1.4889527619743603e-06, + "acceleration": 9.148320145868638e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.184877176769078e-06, + "observation_loss": 7.136603016988374e-06, + "chamfer": 5.693920684279874e-06, + "track": 1.4426822190216626e-06, + "acceleration": 4.8274280572968564e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.178359282988822e-06, + "observation_loss": 7.118484063539654e-06, + "chamfer": 5.6765675253700465e-06, + "track": 1.4419166518564452e-06, + "acceleration": 5.987541129570673e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.236612418637378e-06, + "observation_loss": 7.156064839364262e-06, + "chamfer": 5.694917945220368e-06, + "track": 1.4611468941438943e-06, + "acceleration": 8.05474869025602e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.265113708854187e-06, + "observation_loss": 7.2211341830552556e-06, + "chamfer": 5.7400116020289715e-06, + "track": 1.481122581026284e-06, + "acceleration": 4.397936237410249e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.495175395888509e-06, + "observation_loss": 7.289436325663701e-06, + "chamfer": 5.776543730462436e-06, + "track": 1.5128923678275896e-06, + "acceleration": 2.0573921233335568e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.86508280725684e-06, + "observation_loss": 7.358334187301807e-06, + "chamfer": 5.8298992371419445e-06, + "track": 1.5284349501598626e-06, + "acceleration": 5.067483357379388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.525631528755184e-06, + "observation_loss": 7.491498763556592e-06, + "chamfer": 5.9164622143725865e-06, + "track": 1.5750366628708434e-06, + "acceleration": 1.034132765198592e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.12675659492379e-06, + "observation_loss": 7.642789569217712e-06, + "chamfer": 6.035560545569751e-06, + "track": 1.6072293647084734e-06, + "acceleration": 1.4839671393929166e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.675437129568309e-06, + "observation_loss": 7.798849765094928e-06, + "chamfer": 6.155639312055428e-06, + "track": 1.6432101119789877e-06, + "acceleration": 8.765874781602179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.521070412825793e-06, + "observation_loss": 8.149779205268715e-06, + "chamfer": 6.410698915715329e-06, + "track": 1.7390800621797098e-06, + "acceleration": 3.71290781231437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.928406714403536e-06, + "observation_loss": 8.643353794468567e-06, + "chamfer": 6.7499049691832624e-06, + "track": 1.893448938972142e-06, + "acceleration": 2.8505289151325996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.339400094177108e-06, + "observation_loss": 9.220712854585145e-06, + "chamfer": 7.143193670344772e-06, + "track": 2.0775189568666974e-06, + "acceleration": 1.1868679195004006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.631059583625756e-06, + "observation_loss": 9.540779501548968e-06, + "chamfer": 7.361368261626922e-06, + "track": 2.1794110125483712e-06, + "acceleration": 9.027971969999271e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0040052075055428e-05, + "observation_loss": 9.760077773535158e-06, + "chamfer": 7.513141554227332e-06, + "track": 2.2469359919341514e-06, + "acceleration": 2.799745004722354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0141679922526237e-05, + "observation_loss": 9.968528502213303e-06, + "chamfer": 7.631419975950848e-06, + "track": 2.3371085262624547e-06, + "acceleration": 1.7315150557806192e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0193183697992936e-05, + "observation_loss": 1.0076232683786657e-05, + "chamfer": 7.69231792219216e-06, + "track": 2.383914988968172e-06, + "acceleration": 1.169512771070913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0307917364116292e-05, + "observation_loss": 9.976195542549249e-06, + "chamfer": 7.626363185408991e-06, + "track": 2.3498325845139334e-06, + "acceleration": 3.3172153734994936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0534869943512604e-05, + "observation_loss": 9.71112876868574e-06, + "chamfer": 7.4630474955483805e-06, + "track": 2.248081273137359e-06, + "acceleration": 8.237415158873773e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0105283763550688e-05, + "observation_loss": 9.612859685148578e-06, + "chamfer": 7.390726295852801e-06, + "track": 2.222133161922102e-06, + "acceleration": 4.924240784021094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.751956895343028e-06, + "observation_loss": 9.531939213047735e-06, + "chamfer": 7.33356318960432e-06, + "track": 2.198375568696065e-06, + "acceleration": 2.2001796651238692e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.596479685569648e-06, + "observation_loss": 9.339789357909467e-06, + "chamfer": 7.1935583036975e-06, + "track": 2.146231281585642e-06, + "acceleration": 2.566904981904372e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.761336514202412e-06, + "observation_loss": 9.232732736563776e-06, + "chamfer": 7.112521416274831e-06, + "track": 2.1202110929152695e-06, + "acceleration": 5.28604005012312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3096761904307641e-05, + "observation_loss": 9.326599865744356e-06, + "chamfer": 7.14979478289024e-06, + "track": 2.176804855480441e-06, + "acceleration": 3.7701618111896096e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.220864214701578e-05, + "observation_loss": 9.558143574395217e-06, + "chamfer": 7.30323017705814e-06, + "track": 2.254913852084428e-06, + "acceleration": 2.6504983452468878e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0527123777137604e-05, + "observation_loss": 9.528451300866436e-06, + "chamfer": 7.290544999705162e-06, + "track": 2.2379065285349498e-06, + "acceleration": 9.986727036448428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0400179235148244e-05, + "observation_loss": 9.592728929419536e-06, + "chamfer": 7.31901991457562e-06, + "track": 2.273708787470241e-06, + "acceleration": 8.074502488852886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0031238161900546e-05, + "observation_loss": 9.680747098173015e-06, + "chamfer": 7.374283995886799e-06, + "track": 2.3064633296598913e-06, + "acceleration": 3.50490893197275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0116249541169964e-05, + "observation_loss": 9.815542398428079e-06, + "chamfer": 7.4468021011853125e-06, + "track": 2.368740069869091e-06, + "acceleration": 3.00706744837953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0242040843877476e-05, + "observation_loss": 9.961257092072628e-06, + "chamfer": 7.515816378145246e-06, + "track": 2.4454402591800317e-06, + "acceleration": 2.8078375180484727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0278871741320472e-05, + "observation_loss": 1.0178453521803021e-05, + "chamfer": 7.657287824258674e-06, + "track": 2.5211652427969966e-06, + "acceleration": 1.0041816977945928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0578401997918263e-05, + "observation_loss": 1.0489062333363108e-05, + "chamfer": 7.87243880040478e-06, + "track": 2.616623078210978e-06, + "acceleration": 8.933979245284718e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0825555364135653e-05, + "observation_loss": 1.0704924534366e-05, + "chamfer": 8.017585059860721e-06, + "track": 2.6873394745052792e-06, + "acceleration": 1.2063094345649006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0907290743489284e-05, + "observation_loss": 1.0784701771626715e-05, + "chamfer": 8.056577826209832e-06, + "track": 2.7281239454168826e-06, + "acceleration": 1.22588645012911e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.1003466170222964e-05, + "observation_loss": 1.0855981599888764e-05, + "chamfer": 8.100204468064476e-06, + "track": 2.7557771318242885e-06, + "acceleration": 1.4748425769539608e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1104751138191205e-05, + "observation_loss": 1.0948730050586164e-05, + "chamfer": 8.151706424541771e-06, + "track": 2.797023853418068e-06, + "acceleration": 1.5602067549025378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1051964065700304e-05, + "observation_loss": 1.09584952951991e-05, + "chamfer": 8.147152584569994e-06, + "track": 2.81134248325543e-06, + "acceleration": 9.34688273446227e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1210838238184806e-05, + "observation_loss": 1.0948037015623413e-05, + "chamfer": 8.138677912938874e-06, + "track": 2.809359102684539e-06, + "acceleration": 2.628010236094269e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1163141607539728e-05, + "observation_loss": 1.102465012081666e-05, + "chamfer": 8.182306373782922e-06, + "track": 2.8423437470337376e-06, + "acceleration": 1.3849144409050496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1197522326256149e-05, + "observation_loss": 1.1100332812929992e-05, + "chamfer": 8.216482456191443e-06, + "track": 2.8838501293648733e-06, + "acceleration": 9.718906568423336e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.124916070693871e-05, + "observation_loss": 1.1160183021274861e-05, + "chamfer": 8.253708074335009e-06, + "track": 2.9064747195661766e-06, + "acceleration": 8.897765013671233e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1318104043311905e-05, + "observation_loss": 1.1237822945986409e-05, + "chamfer": 8.295116458612029e-06, + "track": 2.9427067147480557e-06, + "acceleration": 8.028150233485576e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1298934623482637e-05, + "observation_loss": 1.1193556929356419e-05, + "chamfer": 8.271515980595723e-06, + "track": 2.9220407213870203e-06, + "acceleration": 1.0537785044562042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1132104191347025e-05, + "observation_loss": 1.1039910532417707e-05, + "chamfer": 8.174735739885364e-06, + "track": 2.8651747925323434e-06, + "acceleration": 9.219377261615591e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.231656633957604e-06, + "chamfer_mean": 5.6214003549825975e-06, + "track_mean": 1.5285057439011023e-06, + "acceleration_mean": 1.0817504965491647e-06, + "observation_score": 7.14990611546303e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4168937289996393 + }, + "score_arrays_file": "pass_scores/pass_end_0324.npz", + "score_arrays_sha256": "87a1b41b1002ed89f75c3f057c0ce4937376424d3938c4ac28ba3f401c2f5773" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0325.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0325.json new file mode 100644 index 0000000000000000000000000000000000000000..5233e2b0ff51299ee20f8a8e8d014d14bc9e9a74 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0325.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31200, + "completed_passes": 325, + "snapshot": "pass_end_0325", + "candidate": true, + "snapshot_arrays_sha256": "138f00c5ef86ae2dc86b20d11d7ba2ddc9495ac33d7a5b7193bfb1e127767d3f", + "score": 7.146715174618142e-06, + "score_result": { + "score": 7.146715174618142e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872325694625033e-06, + 3.155063723170315e-06, + 3.2515263228560798e-06, + 3.6860601539956406e-06, + 4.204955985187553e-06, + 4.42404734712909e-06, + 4.177825758233666e-06, + 4.024863301310688e-06, + 3.9660199036006816e-06, + 4.0672184695722535e-06, + 4.444768819666933e-06, + 4.9030040827346966e-06, + 5.21099991601659e-06, + 5.41784766028286e-06, + 5.414132374426117e-06, + 5.304013484419556e-06, + 4.945415184920421e-06, + 4.55905092167086e-06, + 4.379533947940217e-06, + 4.368794634501683e-06, + 4.32536353400792e-06, + 4.2010442484752275e-06, + 4.123407506995136e-06, + 4.127960892219562e-06, + 4.166363396507222e-06, + 4.3620379983622115e-06, + 4.763340712088393e-06, + 4.999239081371343e-06, + 4.98046210850589e-06, + 4.9342461352352984e-06, + 5.081858489575097e-06, + 5.318295279721497e-06, + 5.593881269305712e-06, + 5.8294867812946904e-06, + 5.895499270991422e-06, + 5.989338205836248e-06, + 6.240906259336043e-06, + 6.366464731399901e-06, + 6.0688726080115885e-06, + 5.622632670565508e-06, + 5.523337222257396e-06, + 5.784837412647903e-06, + 5.980512923997594e-06, + 6.1672590163652785e-06, + 6.242134986678138e-06, + 6.300639597611735e-06, + 6.4489413489354774e-06, + 6.916762686159927e-06, + 7.535815257142531e-06, + 7.924327292130329e-06, + 7.77695640863385e-06, + 7.5335774454288185e-06, + 7.3209230322390795e-06, + 7.135487066989299e-06, + 7.117359928088263e-06, + 7.1541976467415225e-06, + 7.21939750292222e-06, + 7.288599135790719e-06, + 7.357853974099271e-06, + 7.49174887459958e-06, + 7.643279786861967e-06, + 7.800181265338324e-06, + 8.15241855889326e-06, + 8.647489266877528e-06, + 9.22614799492294e-06, + 9.547336958348751e-06, + 9.767438314156607e-06, + 9.976514775189571e-06, + 1.0084107088914607e-05, + 9.983002200897317e-06, + 9.716244676383212e-06, + 9.61645127972588e-06, + 9.533637239655945e-06, + 9.339423741039354e-06, + 9.226970178133342e-06, + 9.317984222434461e-06, + 9.548452908347826e-06, + 9.522053915134165e-06, + 9.584520739736035e-06, + 9.670620784163475e-06, + 9.805389709072188e-06, + 9.950406820280477e-06, + 1.0167656910198275e-05, + 1.0476660463609733e-05, + 1.069215613824781e-05, + 1.0771691449917853e-05, + 1.0842868505278602e-05, + 1.0934976671705954e-05, + 1.0944874702545349e-05, + 1.0934067177004181e-05, + 1.1010990419890732e-05, + 1.1086375707236584e-05, + 1.114579845307162e-05, + 1.122302910516737e-05, + 1.1178765817021485e-05, + 1.102583519241307e-05 + ] + ], + "episode_mean_losses": [ + 7.146715174618142e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872325694625033e-06, + "observation_loss": 2.872325694625033e-06, + "chamfer": 2.4363832835661015e-06, + "track": 4.359422973720939e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.14860260207206e-05, + "observation_loss": 3.155063723170315e-06, + "chamfer": 2.668316255949321e-06, + "track": 4.867474103775749e-07, + "acceleration": 3.833096343441866e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3115444491850212e-05, + "observation_loss": 3.2515263228560798e-06, + "chamfer": 2.753352418949362e-06, + "track": 4.981739607501368e-07, + "acceleration": 1.9863919078488834e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.009962124953745e-05, + "observation_loss": 3.6860601539956406e-06, + "chamfer": 3.108867531409487e-06, + "track": 5.771926225861534e-07, + "acceleration": 6.413561095541809e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.80132336835959e-06, + "observation_loss": 4.204955985187553e-06, + "chamfer": 3.5272487366455607e-06, + "track": 6.777074759156676e-07, + "acceleration": 1.5963674968588748e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.519320438907016e-06, + "observation_loss": 4.42404734712909e-06, + "chamfer": 3.701873765749042e-06, + "track": 7.221736382234667e-07, + "acceleration": 1.0952729780910886e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.820170033781324e-06, + "observation_loss": 4.177825758233666e-06, + "chamfer": 3.5010159535886487e-06, + "track": 6.768098046450177e-07, + "acceleration": 6.423441618608194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.588111551129259e-06, + "observation_loss": 4.024863301310688e-06, + "chamfer": 3.3784326660679653e-06, + "track": 6.464308057729795e-07, + "acceleration": 5.632484771922464e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4377948142937385e-06, + "observation_loss": 3.9660199036006816e-06, + "chamfer": 3.333893118906417e-06, + "track": 6.321270120679401e-07, + "acceleration": 4.7177488227134745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.370904207462445e-06, + "observation_loss": 4.0672184695722535e-06, + "chamfer": 3.4170464005001122e-06, + "track": 6.501720122287225e-07, + "acceleration": 3.0368582315531967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.580338099913206e-06, + "observation_loss": 4.444768819666933e-06, + "chamfer": 3.7245040402922314e-06, + "track": 7.202645520010265e-07, + "acceleration": 1.3556922340285382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.994332812202629e-06, + "observation_loss": 4.9030040827346966e-06, + "chamfer": 4.092537437827559e-06, + "track": 8.104666449071374e-07, + "acceleration": 9.132871525707742e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.303376383380964e-06, + "observation_loss": 5.21099991601659e-06, + "chamfer": 4.3457762330945116e-06, + "track": 8.652235692352406e-07, + "acceleration": 9.237631104497268e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.52286201127572e-06, + "observation_loss": 5.41784766028286e-06, + "chamfer": 4.521960363490507e-06, + "track": 8.958874673226092e-07, + "acceleration": 1.0501457126110836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.47423587704543e-06, + "observation_loss": 5.414132374426117e-06, + "chamfer": 4.522698418440996e-06, + "track": 8.914340128285403e-07, + "acceleration": 6.010350972474043e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.426268671726575e-06, + "observation_loss": 5.304013484419556e-06, + "chamfer": 4.432741206983337e-06, + "track": 8.712724479664757e-07, + "acceleration": 1.2225514467445464e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.148479885974666e-06, + "observation_loss": 4.945415184920421e-06, + "chamfer": 4.138591521041235e-06, + "track": 8.068238344094425e-07, + "acceleration": 2.0306453052398865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.869388249062467e-06, + "observation_loss": 4.55905092167086e-06, + "chamfer": 3.8195416891539935e-06, + "track": 7.395093462037039e-07, + "acceleration": 3.103374410784454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.544070179690607e-06, + "observation_loss": 4.379533947940217e-06, + "chamfer": 3.6681501569546526e-06, + "track": 7.113839046724024e-07, + "acceleration": 1.64536459124065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.554025508696213e-06, + "observation_loss": 4.368794634501683e-06, + "chamfer": 3.6551837183651514e-06, + "track": 7.136110866667877e-07, + "acceleration": 1.8523105893564207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.614295903593302e-06, + "observation_loss": 4.32536353400792e-06, + "chamfer": 3.6180033475829987e-06, + "track": 7.073600158946647e-07, + "acceleration": 2.889321422117064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.482295480556786e-06, + "observation_loss": 4.2010442484752275e-06, + "chamfer": 3.516158130878466e-06, + "track": 6.848862881270179e-07, + "acceleration": 2.812510899730114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.6935861064412165e-06, + "observation_loss": 4.123407506995136e-06, + "chamfer": 3.457280627117143e-06, + "track": 6.661267661911552e-07, + "acceleration": 5.701785426026618e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.0807643674488645e-06, + "observation_loss": 4.127960892219562e-06, + "chamfer": 3.4572194635984488e-06, + "track": 6.707412012474379e-07, + "acceleration": 9.528034183858836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.878537311014952e-06, + "observation_loss": 4.166363396507222e-06, + "chamfer": 3.4721124393399805e-06, + "track": 6.94250843480404e-07, + "acceleration": 7.121740281945677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.737876224680804e-06, + "observation_loss": 4.3620379983622115e-06, + "chamfer": 3.6160975014354335e-06, + "track": 7.459403832399403e-07, + "acceleration": 3.7583845369226765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0584467317094095e-06, + "observation_loss": 4.763340712088393e-06, + "chamfer": 3.920444214600138e-06, + "track": 8.428966111750924e-07, + "acceleration": 2.9510599119930703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.222709660301916e-06, + "observation_loss": 4.999239081371343e-06, + "chamfer": 4.100129444850609e-06, + "track": 8.991095228338963e-07, + "acceleration": 2.2347057893057354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.354962922865525e-06, + "observation_loss": 4.98046210850589e-06, + "chamfer": 4.089267349627335e-06, + "track": 8.911946451917174e-07, + "acceleration": 3.745009848898917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.236947345110821e-06, + "observation_loss": 4.9342461352352984e-06, + "chamfer": 4.063101641804678e-06, + "track": 8.711444365872012e-07, + "acceleration": 3.027014088274882e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.316159331414383e-06, + "observation_loss": 5.081858489575097e-06, + "chamfer": 4.189459104964044e-06, + "track": 8.923992709242157e-07, + "acceleration": 2.3430102658039687e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.653318567055976e-06, + "observation_loss": 5.318295279721497e-06, + "chamfer": 4.378681751404656e-06, + "track": 9.396134714734217e-07, + "acceleration": 3.350232020693511e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.0245456552365795e-06, + "observation_loss": 5.593881269305712e-06, + "chamfer": 4.598813575285021e-06, + "track": 9.950678077075281e-07, + "acceleration": 4.3066438593086787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.846710675745271e-06, + "observation_loss": 5.8294867812946904e-06, + "chamfer": 4.777719368576072e-06, + "track": 1.051767526405456e-06, + "acceleration": 1.0172238944505807e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.96926326781977e-06, + "observation_loss": 5.895499270991422e-06, + "chamfer": 4.8269230319419876e-06, + "track": 1.0685760116757592e-06, + "acceleration": 1.073763769454672e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.0736427915107924e-06, + "observation_loss": 5.989338205836248e-06, + "chamfer": 4.8804345169628505e-06, + "track": 1.1089034614997217e-06, + "acceleration": 1.0843046993613825e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.251894203363918e-06, + "observation_loss": 6.240906259336043e-06, + "chamfer": 5.052144842920825e-06, + "track": 1.1887613027283805e-06, + "acceleration": 1.0109880577147123e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.316129540413385e-06, + "observation_loss": 6.366464731399901e-06, + "chamfer": 5.151753612153698e-06, + "track": 1.2147110055593657e-06, + "acceleration": 9.496646953266463e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.7984169618284795e-06, + "observation_loss": 6.0688726080115885e-06, + "chamfer": 4.938380243402207e-06, + "track": 1.1304922509225435e-06, + "acceleration": 7.295445243471477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.8940204326063395e-06, + "observation_loss": 5.622632670565508e-06, + "chamfer": 4.593152425513836e-06, + "track": 1.0294802450516727e-06, + "acceleration": 2.7138759151057457e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.830890131619526e-06, + "observation_loss": 5.523337222257396e-06, + "chamfer": 4.513496151048457e-06, + "track": 1.0098411848957767e-06, + "acceleration": 3.07552852518711e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.036045306245796e-06, + "observation_loss": 5.784837412647903e-06, + "chamfer": 4.702549176727189e-06, + "track": 1.0822882359207142e-06, + "acceleration": 2.5120803570644057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.078604201320559e-06, + "observation_loss": 5.980512923997594e-06, + "chamfer": 4.835908839595504e-06, + "track": 1.1446041980889277e-06, + "acceleration": 9.809110679270816e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.224479875527322e-06, + "observation_loss": 6.1672590163652785e-06, + "chamfer": 4.9727213990991e-06, + "track": 1.1945375035793404e-06, + "acceleration": 5.722083074033435e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.322994977381313e-06, + "observation_loss": 6.242134986678138e-06, + "chamfer": 5.025660357205197e-06, + "track": 1.2164747431597789e-06, + "acceleration": 8.0860132811722e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.4306136664527e-06, + "observation_loss": 6.300639597611735e-06, + "chamfer": 5.069530743639916e-06, + "track": 1.2311087402849807e-06, + "acceleration": 1.2997411147352977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.6437610257708e-06, + "observation_loss": 6.4489413489354774e-06, + "chamfer": 5.186270300328033e-06, + "track": 1.2626710486074444e-06, + "acceleration": 1.9481959157019446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.084974186000181e-06, + "observation_loss": 6.916762686159927e-06, + "chamfer": 5.537790912057972e-06, + "track": 1.378971660415118e-06, + "acceleration": 1.6821145720768982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.687238394282758e-06, + "observation_loss": 7.535815257142531e-06, + "chamfer": 5.973488896415802e-06, + "track": 1.562326360726729e-06, + "acceleration": 1.5142342135732179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.210049600165803e-06, + "observation_loss": 7.924327292130329e-06, + "chamfer": 6.254187155718682e-06, + "track": 1.670140250098484e-06, + "acceleration": 2.857220522400894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.063345376285724e-06, + "observation_loss": 7.77695640863385e-06, + "chamfer": 6.157609277579468e-06, + "track": 1.619347472114896e-06, + "acceleration": 2.863887402781984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.800100320309866e-06, + "observation_loss": 7.5335774454288185e-06, + "chamfer": 5.991798843751894e-06, + "track": 1.5417786016769242e-06, + "acceleration": 2.665229885678855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.412203558487818e-06, + "observation_loss": 7.3209230322390795e-06, + "chamfer": 5.832260285387747e-06, + "track": 1.488662974225008e-06, + "acceleration": 9.128039835104573e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.183211437222781e-06, + "observation_loss": 7.135487066989299e-06, + "chamfer": 5.693071216228418e-06, + "track": 1.4424159644477186e-06, + "acceleration": 4.772458339630248e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.176658527896507e-06, + "observation_loss": 7.117359928088263e-06, + "chamfer": 5.675668489857344e-06, + "track": 1.441691324544081e-06, + "acceleration": 5.929864599352186e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.235078555822838e-06, + "observation_loss": 7.1541976467415225e-06, + "chamfer": 5.693370439985301e-06, + "track": 1.4608270930693834e-06, + "acceleration": 8.088080960533262e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.263628958753543e-06, + "observation_loss": 7.21939750292222e-06, + "chamfer": 5.7385659602005035e-06, + "track": 1.4808315427217167e-06, + "acceleration": 4.423160504529733e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.494368219340686e-06, + "observation_loss": 7.288599135790719e-06, + "chamfer": 5.775805675511947e-06, + "track": 1.5127935739656095e-06, + "acceleration": 2.0576889880885574e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.865767656767275e-06, + "observation_loss": 7.357853974099271e-06, + "chamfer": 5.829389465361601e-06, + "track": 1.5284643950508325e-06, + "acceleration": 5.079139100416796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.528200851287693e-06, + "observation_loss": 7.49174887459958e-06, + "chamfer": 5.916537702432834e-06, + "track": 1.5752111721667461e-06, + "acceleration": 1.036451976688113e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.131166734732687e-06, + "observation_loss": 7.643279786861967e-06, + "chamfer": 6.035781098034931e-06, + "track": 1.6074989162007114e-06, + "acceleration": 1.4878872889312333e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.679869097250048e-06, + "observation_loss": 7.800181265338324e-06, + "chamfer": 6.15649196333834e-06, + "track": 1.6436889609394711e-06, + "acceleration": 8.796881729722372e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.52535231388174e-06, + "observation_loss": 8.15241855889326e-06, + "chamfer": 6.4124283198907506e-06, + "track": 1.7399903526893468e-06, + "acceleration": 3.7293412447070295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.933657227316871e-06, + "observation_loss": 8.647489266877528e-06, + "chamfer": 6.752654371666722e-06, + "track": 1.8948345541502931e-06, + "acceleration": 2.861676762222487e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.345422768092249e-06, + "observation_loss": 9.22614799492294e-06, + "chamfer": 7.1467434281657916e-06, + "track": 2.0794043393834727e-06, + "acceleration": 1.1927494369956548e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.638436495151836e-06, + "observation_loss": 9.547336958348751e-06, + "chamfer": 7.3657542998262215e-06, + "track": 2.1815831132698804e-06, + "acceleration": 9.109950838137593e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0048719559563324e-05, + "observation_loss": 9.767438314156607e-06, + "chamfer": 7.518183792853961e-06, + "track": 2.249254066555295e-06, + "acceleration": 2.8128087592449447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0150317393708974e-05, + "observation_loss": 9.976514775189571e-06, + "chamfer": 7.637023372808471e-06, + "track": 2.339491629754775e-06, + "acceleration": 1.738029453690615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0201571058132686e-05, + "observation_loss": 1.0084107088914607e-05, + "chamfer": 7.697896762692835e-06, + "track": 2.386210553595447e-06, + "acceleration": 1.1746408290491672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0316090083506424e-05, + "observation_loss": 9.983002200897317e-06, + "chamfer": 7.631121661688667e-06, + "track": 2.3518805392086506e-06, + "acceleration": 3.3308802471765375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0542189556872472e-05, + "observation_loss": 9.716244676383212e-06, + "chamfer": 7.466646366083296e-06, + "track": 2.249598310299916e-06, + "acceleration": 8.259453352366108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0108489732374437e-05, + "observation_loss": 9.61645127972588e-06, + "chamfer": 7.39342931410647e-06, + "track": 2.2230219656194095e-06, + "acceleration": 4.920380547446257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.751282050274312e-06, + "observation_loss": 9.533637239655945e-06, + "chamfer": 7.334879228437785e-06, + "track": 2.198757783844485e-06, + "acceleration": 2.176452369440085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.592629794497043e-06, + "observation_loss": 9.339423741039354e-06, + "chamfer": 7.193386409198865e-06, + "track": 2.1460375592141645e-06, + "acceleration": 2.5320605345768854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.775520993571263e-06, + "observation_loss": 9.226970178133342e-06, + "chamfer": 7.108952559065074e-06, + "track": 2.118017846441944e-06, + "acceleration": 5.485512133418524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3165340533305425e-05, + "observation_loss": 9.317984222434461e-06, + "chamfer": 7.1437434598919936e-06, + "track": 2.1742403077951167e-06, + "acceleration": 3.847356310870964e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2172621609352063e-05, + "observation_loss": 9.548452908347826e-06, + "chamfer": 7.296548574231565e-06, + "track": 2.251904561489937e-06, + "acceleration": 2.6241689283779124e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0549530088610481e-05, + "observation_loss": 9.522053915134165e-06, + "chamfer": 7.286530944838887e-06, + "track": 2.235523197668954e-06, + "acceleration": 1.0274758324158029e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0399525308457669e-05, + "observation_loss": 9.584520739736035e-06, + "chamfer": 7.313140940823359e-06, + "track": 2.271380253660027e-06, + "acceleration": 8.150048529387277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.00438337540254e-05, + "observation_loss": 9.670620784163475e-06, + "chamfer": 7.36730771677685e-06, + "track": 2.3033126126392744e-06, + "acceleration": 3.7321342460927553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.013422752293991e-05, + "observation_loss": 9.805389709072188e-06, + "chamfer": 7.440048193529947e-06, + "track": 2.365341515542241e-06, + "acceleration": 3.28837700180884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0245530575048178e-05, + "observation_loss": 9.950406820280477e-06, + "chamfer": 7.5084440140926745e-06, + "track": 2.4419630335614784e-06, + "acceleration": 2.9512369792428217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0267555808241013e-05, + "observation_loss": 1.0167656910198275e-05, + "chamfer": 7.650066436326597e-06, + "track": 2.5175907012453536e-06, + "acceleration": 9.989908278384974e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0565385309746489e-05, + "observation_loss": 1.0476660463609733e-05, + "chamfer": 7.864271537982859e-06, + "track": 2.612388925626874e-06, + "acceleration": 8.872465429021759e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0810110325110145e-05, + "observation_loss": 1.069215613824781e-05, + "chamfer": 8.009134944586549e-06, + "track": 2.683020966287586e-06, + "acceleration": 1.1795462739883078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0891439160332084e-05, + "observation_loss": 1.0771691449917853e-05, + "chamfer": 8.048122253967449e-06, + "track": 2.7235696506977547e-06, + "acceleration": 1.1974763935995725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.098803841159679e-05, + "observation_loss": 1.0842868505278602e-05, + "chamfer": 8.091738891380373e-06, + "track": 2.7511300686455797e-06, + "acceleration": 1.4516947999254626e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1089340659964364e-05, + "observation_loss": 1.0934976671705954e-05, + "chamfer": 8.142862498061731e-06, + "track": 2.792114628391573e-06, + "acceleration": 1.5436405931268382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.103483373299241e-05, + "observation_loss": 1.0944874702545349e-05, + "chamfer": 8.138397788570728e-06, + "track": 2.806476686600945e-06, + "acceleration": 8.995931466415641e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1193960745004006e-05, + "observation_loss": 1.0934067177004181e-05, + "chamfer": 8.129697562253568e-06, + "track": 2.8043700694979634e-06, + "acceleration": 2.5989371010837203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1147535587952007e-05, + "observation_loss": 1.1010990419890732e-05, + "chamfer": 8.17381533124717e-06, + "track": 2.8371753160172375e-06, + "acceleration": 1.365454096458052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1182686648680829e-05, + "observation_loss": 1.1086375707236584e-05, + "chamfer": 8.207863174902741e-06, + "track": 2.8785125323338434e-06, + "acceleration": 9.631104092022724e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1234154953854159e-05, + "observation_loss": 1.114579845307162e-05, + "chamfer": 8.244714081229176e-06, + "track": 2.9010845992161194e-06, + "acceleration": 8.835635867399105e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1302903658361174e-05, + "observation_loss": 1.122302910516737e-05, + "chamfer": 8.285837793664541e-06, + "track": 2.9371910841291538e-06, + "acceleration": 7.987456029923123e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1284145330137108e-05, + "observation_loss": 1.1178765817021485e-05, + "chamfer": 8.26224459160585e-06, + "track": 2.916521225415636e-06, + "acceleration": 1.0537953443190418e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1117813301098067e-05, + "observation_loss": 1.102583519241307e-05, + "chamfer": 8.16602823761059e-06, + "track": 2.8598069548024796e-06, + "acceleration": 9.197828632068195e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.230899851469076e-06, + "chamfer_mean": 5.619197966192739e-06, + "track_mean": 1.5275172332943991e-06, + "acceleration_mean": 1.0841847403186833e-06, + "observation_score": 7.146715174618142e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4182783469987044 + }, + "score_arrays_file": "pass_scores/pass_end_0325.npz", + "score_arrays_sha256": "07800d8c325a0add65ecffbe98ee496ae7a9c984d0c03b569d89f36b7962ce79" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0326.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0326.json new file mode 100644 index 0000000000000000000000000000000000000000..5a6853344b4279b31b773af2a59a8207505f64e4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0326.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31296, + "completed_passes": 326, + "snapshot": "pass_end_0326", + "candidate": true, + "snapshot_arrays_sha256": "bace8b16954481ea99357984dec58601b2cdbb793300d9c5b128925f4d851cc8", + "score": 7.141947638918585e-06, + "score_result": { + "score": 7.141947638918585e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872334789572051e-06, + 3.1549645882478217e-06, + 3.2502709927939577e-06, + 3.684929197333986e-06, + 4.204346623737365e-06, + 4.424093276611529e-06, + 4.1776211219257675e-06, + 4.0238246583612636e-06, + 3.964673851442058e-06, + 4.0650515984452795e-06, + 4.442375939106569e-06, + 4.900547537545208e-06, + 5.208383299759589e-06, + 5.414918177848449e-06, + 5.411123765952652e-06, + 5.301308192429133e-06, + 4.9428290367359295e-06, + 4.556495241558878e-06, + 4.377001459943131e-06, + 4.3671088860719465e-06, + 4.324342171457829e-06, + 4.198705937596969e-06, + 4.1194116420228966e-06, + 4.1239582060370594e-06, + 4.162820005149115e-06, + 4.359977992862696e-06, + 4.76077912026085e-06, + 4.994440587324789e-06, + 4.973011982656317e-06, + 4.927281679556472e-06, + 5.078731192043051e-06, + 5.318526746123098e-06, + 5.5992450143094175e-06, + 5.835771844431292e-06, + 5.9006169976782985e-06, + 5.989812962070573e-06, + 6.237912202777807e-06, + 6.363641659845598e-06, + 6.0683955780405086e-06, + 5.621249329124112e-06, + 5.520156719285296e-06, + 5.7799970818450674e-06, + 5.976236934657209e-06, + 6.16402803643723e-06, + 6.2381532188737765e-06, + 6.297274012467824e-06, + 6.4460450630576815e-06, + 6.915210633451352e-06, + 7.53528638597345e-06, + 7.922597433207557e-06, + 7.773586730763782e-06, + 7.530825314461254e-06, + 7.3191204137401655e-06, + 7.133150120353093e-06, + 7.11431130184792e-06, + 7.150742021622136e-06, + 7.215617642941652e-06, + 7.2858401836128905e-06, + 7.355347406701185e-06, + 7.490118605346652e-06, + 7.641539923497476e-06, + 7.79902984504588e-06, + 8.152383998094592e-06, + 8.648728908156045e-06, + 9.228480848832987e-06, + 9.550229151500389e-06, + 9.770016731636133e-06, + 9.980044524127152e-06, + 1.0088238923344761e-05, + 9.986622899305075e-06, + 9.71821373241255e-06, + 9.6170770120807e-06, + 9.532256626698654e-06, + 9.334698916063644e-06, + 9.216395483235829e-06, + 9.303913429903332e-06, + 9.533094271318987e-06, + 9.510677045909688e-06, + 9.571478585712612e-06, + 9.655304893385619e-06, + 9.790650437935255e-06, + 9.935021807905287e-06, + 1.0152303730137646e-05, + 1.045980206981767e-05, + 1.0675628800527193e-05, + 1.0755006769613829e-05, + 1.08260410343064e-05, + 1.091751255444251e-05, + 1.0927970834018197e-05, + 1.0916784958681092e-05, + 1.0993553587468341e-05, + 1.1068809726566542e-05, + 1.1128024198114872e-05, + 1.1205061127839144e-05, + 1.1161266229464673e-05, + 1.1008629371644929e-05 + ] + ], + "episode_mean_losses": [ + 7.141947638918585e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872334789572051e-06, + "observation_loss": 2.872334789572051e-06, + "chamfer": 2.436381009829347e-06, + "track": 4.359538934295415e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1490162402624264e-05, + "observation_loss": 3.1549645882478217e-06, + "chamfer": 2.6682280349632492e-06, + "track": 4.867366101279913e-07, + "acceleration": 3.833519804175012e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3108876121114008e-05, + "observation_loss": 3.2502709927939577e-06, + "chamfer": 2.7523078642843757e-06, + "track": 4.979630716661632e-07, + "acceleration": 1.9858605810441077e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.009551760944305e-05, + "observation_loss": 3.684929197333986e-06, + "chamfer": 3.1079202926775906e-06, + "track": 5.770087909695576e-07, + "acceleration": 6.410588412109064e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.792688625660958e-06, + "observation_loss": 4.204346623737365e-06, + "chamfer": 3.5267150906292954e-06, + "track": 6.776317036383261e-07, + "acceleration": 1.5883421156104305e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5185578275995795e-06, + "observation_loss": 4.424093276611529e-06, + "chamfer": 3.701854211612954e-06, + "track": 7.222391786854132e-07, + "acceleration": 1.0944645509880502e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.818745310330996e-06, + "observation_loss": 4.1776211219257675e-06, + "chamfer": 3.5007717542612227e-06, + "track": 6.76849310821126e-07, + "acceleration": 6.411243589354854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.589614036376588e-06, + "observation_loss": 4.0238246583612636e-06, + "chamfer": 3.3775006613723235e-06, + "track": 6.463239401455212e-07, + "acceleration": 5.657895485455811e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.43816497863736e-06, + "observation_loss": 3.964673851442058e-06, + "chamfer": 3.3327175970043754e-06, + "track": 6.319564249679388e-07, + "acceleration": 4.734910135084647e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.3692716644727625e-06, + "observation_loss": 4.0650515984452795e-06, + "chamfer": 3.4152167245338205e-06, + "track": 6.498348170680401e-07, + "acceleration": 3.0422023655773955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.578348580253078e-06, + "observation_loss": 4.442375939106569e-06, + "chamfer": 3.7225179312372347e-06, + "track": 7.198581783995905e-07, + "acceleration": 1.3597264114650898e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.9918744480237365e-06, + "observation_loss": 4.900547537545208e-06, + "chamfer": 4.09051654060022e-06, + "track": 8.100307695713127e-07, + "acceleration": 9.132671863198993e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.3011167437944096e-06, + "observation_loss": 5.208383299759589e-06, + "chamfer": 4.3436293708509766e-06, + "track": 8.647539289086126e-07, + "acceleration": 9.273342271853835e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.519810656551272e-06, + "observation_loss": 5.414918177848449e-06, + "chamfer": 4.519562025961932e-06, + "track": 8.953562655733549e-07, + "acceleration": 1.0489259949508778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.470988980960101e-06, + "observation_loss": 5.411123765952652e-06, + "chamfer": 4.5202523324405774e-06, + "track": 8.908714903554937e-07, + "acceleration": 5.986544238112401e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.423345101007726e-06, + "observation_loss": 5.301308192429133e-06, + "chamfer": 4.430539320310345e-06, + "track": 8.707688721187878e-07, + "acceleration": 1.220367380483367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.145595878275344e-06, + "observation_loss": 4.9428290367359295e-06, + "chamfer": 4.136481493333122e-06, + "track": 8.063477139330644e-07, + "acceleration": 2.027670404913806e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.867097686656052e-06, + "observation_loss": 4.556495241558878e-06, + "chamfer": 3.817461674771039e-06, + "track": 7.390334531010012e-07, + "acceleration": 3.106025303623028e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.541820089798421e-06, + "observation_loss": 4.377001459943131e-06, + "chamfer": 3.66603262591525e-06, + "track": 7.109687203410431e-07, + "acceleration": 1.648186724878542e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.551481197268004e-06, + "observation_loss": 4.3671088860719465e-06, + "chamfer": 3.653758312793798e-06, + "track": 7.133504595913109e-07, + "acceleration": 1.843720980332364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.613742476067273e-06, + "observation_loss": 4.324342171457829e-06, + "chamfer": 3.61713705387956e-06, + "track": 7.072051744216878e-07, + "acceleration": 2.894003330311534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.481957603275077e-06, + "observation_loss": 4.198705937596969e-06, + "chamfer": 3.5142161323165055e-06, + "track": 6.844900326541392e-07, + "acceleration": 2.832516656781081e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.700957106251735e-06, + "observation_loss": 4.1194116420228966e-06, + "chamfer": 3.4539693842816632e-06, + "track": 6.654423145846522e-07, + "acceleration": 5.815454073854198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.08795437781373e-06, + "observation_loss": 4.1239582060370594e-06, + "chamfer": 3.4538811632955913e-06, + "track": 6.700769858980493e-07, + "acceleration": 9.639963991503464e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.8768174565338995e-06, + "observation_loss": 4.162820005149115e-06, + "chamfer": 3.469100875008735e-06, + "track": 6.937193006706366e-07, + "acceleration": 7.139976219150412e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.730581167677883e-06, + "observation_loss": 4.359977992862696e-06, + "chamfer": 3.6142944281891687e-06, + "track": 7.456833941432706e-07, + "acceleration": 3.706032600803155e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.050997515354538e-06, + "observation_loss": 4.76077912026085e-06, + "chamfer": 3.918329184671165e-06, + "track": 8.424498787462653e-07, + "acceleration": 2.9021850878052646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.2183509069436695e-06, + "observation_loss": 4.994440587324789e-06, + "chamfer": 4.096332304470707e-06, + "track": 8.981083965409198e-07, + "acceleration": 2.239102627754619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.355803295969963e-06, + "observation_loss": 4.973011982656317e-06, + "chamfer": 4.083301519131055e-06, + "track": 8.897105203686806e-07, + "acceleration": 3.827911712050991e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2408408919291105e-06, + "observation_loss": 4.927281679556472e-06, + "chamfer": 4.057420937897405e-06, + "track": 8.698606279722298e-07, + "acceleration": 3.135592123726383e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.309611424308969e-06, + "observation_loss": 5.078731192043051e-06, + "chamfer": 4.186839305475587e-06, + "track": 8.91891943410883e-07, + "acceleration": 2.3088023226591758e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.651828814734472e-06, + "observation_loss": 5.318526746123098e-06, + "chamfer": 4.378751782496693e-06, + "track": 9.397750204698241e-07, + "acceleration": 3.333022107199213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.002491772960639e-06, + "observation_loss": 5.5992450143094175e-06, + "chamfer": 4.602999524649931e-06, + "track": 9.96245262285811e-07, + "acceleration": 4.0324655969925516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.7907790253229905e-06, + "observation_loss": 5.835771844431292e-06, + "chamfer": 4.782898486155318e-06, + "track": 1.0528731309022987e-06, + "acceleration": 9.55007294578536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.94898471920169e-06, + "observation_loss": 5.9006169976782985e-06, + "chamfer": 4.831502792512765e-06, + "track": 1.069114318852371e-06, + "acceleration": 1.0483676078365534e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.1773365561966784e-06, + "observation_loss": 5.989812962070573e-06, + "chamfer": 4.881554104940733e-06, + "track": 1.1082588571298402e-06, + "acceleration": 1.1875235941261053e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.338337127293926e-06, + "observation_loss": 6.237912202777807e-06, + "chamfer": 5.050387244409649e-06, + "track": 1.1875250720549957e-06, + "acceleration": 1.1004246971424436e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.3990468081319705e-06, + "observation_loss": 6.363641659845598e-06, + "chamfer": 5.149826392880641e-06, + "track": 1.2138150395912817e-06, + "acceleration": 1.0354050345995347e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.8874833232257515e-06, + "observation_loss": 6.0683955780405086e-06, + "chamfer": 4.938085112371482e-06, + "track": 1.1303103519821889e-06, + "acceleration": 8.190876314984052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.900092673982726e-06, + "observation_loss": 5.621249329124112e-06, + "chamfer": 4.59205193692469e-06, + "track": 1.0291976195730967e-06, + "acceleration": 2.788434869671619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.826453161716927e-06, + "observation_loss": 5.520156719285296e-06, + "chamfer": 4.510990493145073e-06, + "track": 1.0091662261402234e-06, + "acceleration": 3.062965845401777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.032382316334406e-06, + "observation_loss": 5.7799970818450674e-06, + "chamfer": 4.698739303421462e-06, + "track": 1.08125755104993e-06, + "acceleration": 2.523851776459196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.074256816646084e-06, + "observation_loss": 5.976236934657209e-06, + "chamfer": 4.832567810808541e-06, + "track": 1.1436691238486674e-06, + "acceleration": 9.801989619973028e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2240742408903316e-06, + "observation_loss": 6.16402803643723e-06, + "chamfer": 4.97013570566196e-06, + "track": 1.193892444462108e-06, + "acceleration": 6.004633235079382e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.325179583654972e-06, + "observation_loss": 6.2381532188737765e-06, + "chamfer": 5.0226549319631886e-06, + "track": 1.215498286910588e-06, + "acceleration": 8.702656373316131e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.422224942070898e-06, + "observation_loss": 6.297274012467824e-06, + "chamfer": 5.066889571025968e-06, + "track": 1.230384555128694e-06, + "acceleration": 1.249508017053813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.637012575083645e-06, + "observation_loss": 6.4460450630576815e-06, + "chamfer": 5.183940174902091e-06, + "track": 1.2621050018424285e-06, + "acceleration": 1.9096745518254465e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.085058314260095e-06, + "observation_loss": 6.915210633451352e-06, + "chamfer": 5.536573098652298e-06, + "track": 1.3786374211122165e-06, + "acceleration": 1.6984745343506802e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.686394383199513e-06, + "observation_loss": 7.53528638597345e-06, + "chamfer": 5.973073712084442e-06, + "track": 1.5622126738890074e-06, + "acceleration": 1.5110779827409715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.207779501390178e-06, + "observation_loss": 7.922597433207557e-06, + "chamfer": 6.252926596062025e-06, + "track": 1.6696711782060447e-06, + "acceleration": 2.85182323978006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.05822855909355e-06, + "observation_loss": 7.773586730763782e-06, + "chamfer": 6.155129085527733e-06, + "track": 1.6184578726097243e-06, + "acceleration": 2.846421693902812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.79775291448459e-06, + "observation_loss": 7.530825314461254e-06, + "chamfer": 5.989621968183201e-06, + "track": 1.5412031189043773e-06, + "acceleration": 2.66927287384533e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.410915713990107e-06, + "observation_loss": 7.3191204137401655e-06, + "chamfer": 5.83073324378347e-06, + "track": 1.4883870562698576e-06, + "acceleration": 9.179527893365957e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.180842203524662e-06, + "observation_loss": 7.133150120353093e-06, + "chamfer": 5.691173555533169e-06, + "track": 1.4419766785067623e-06, + "acceleration": 4.769221106926125e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.174237453000387e-06, + "observation_loss": 7.11431130184792e-06, + "chamfer": 5.673164196196012e-06, + "track": 1.4411472193387453e-06, + "acceleration": 5.992610851990321e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.232331881823484e-06, + "observation_loss": 7.150742021622136e-06, + "chamfer": 5.690513262379682e-06, + "track": 1.4602288729292923e-06, + "acceleration": 8.158963993309953e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.260543497977778e-06, + "observation_loss": 7.215617642941652e-06, + "chamfer": 5.735428658226738e-06, + "track": 1.4801888710280764e-06, + "acceleration": 4.492570226943826e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.491646101698279e-06, + "observation_loss": 7.2858401836128905e-06, + "chamfer": 5.773459633928724e-06, + "track": 1.5123807770578424e-06, + "acceleration": 2.058058896636794e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.864886356401257e-06, + "observation_loss": 7.355347406701185e-06, + "chamfer": 5.827218046761118e-06, + "track": 1.5281292462532292e-06, + "acceleration": 5.095384949527215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.530522791261319e-06, + "observation_loss": 7.490118605346652e-06, + "chamfer": 5.915041583648417e-06, + "track": 1.5750769080113969e-06, + "acceleration": 1.0404045269751805e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.135308573604561e-06, + "observation_loss": 7.641539923497476e-06, + "chamfer": 6.034181296854513e-06, + "track": 1.6073590813903138e-06, + "acceleration": 1.4937684227334103e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.682673978910316e-06, + "observation_loss": 7.79902984504588e-06, + "chamfer": 6.155370101623703e-06, + "track": 1.643659629735339e-06, + "acceleration": 8.836440770210174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.527041245542932e-06, + "observation_loss": 8.152383998094592e-06, + "chamfer": 6.412078164430568e-06, + "track": 1.740305947350862e-06, + "acceleration": 3.746569916529552e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.935397090681363e-06, + "observation_loss": 8.648728908156045e-06, + "chamfer": 6.753092293365626e-06, + "track": 1.8956365011035814e-06, + "acceleration": 2.8666838147728413e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.34779836825328e-06, + "observation_loss": 9.228480848832987e-06, + "chamfer": 7.1478089012089185e-06, + "track": 2.080671492876718e-06, + "acceleration": 1.1931766152883938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.641576980357058e-06, + "observation_loss": 9.550229151500389e-06, + "chamfer": 7.367245416389778e-06, + "track": 2.18298328036326e-06, + "acceleration": 9.13474380581647e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.005247304419754e-05, + "observation_loss": 9.770016731636133e-06, + "chamfer": 7.519529845012585e-06, + "track": 2.250486659249873e-06, + "acceleration": 2.824567104653397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.015444013319211e-05, + "observation_loss": 9.980044524127152e-06, + "chamfer": 7.639215255039744e-06, + "track": 2.340829496461083e-06, + "acceleration": 1.743955237998307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0205895705439616e-05, + "observation_loss": 1.0088238923344761e-05, + "chamfer": 7.700559763179626e-06, + "track": 2.3876793875388103e-06, + "acceleration": 1.1765683183284636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0319438842998352e-05, + "observation_loss": 9.986622899305075e-06, + "chamfer": 7.633404493390117e-06, + "track": 2.3532179511676077e-06, + "acceleration": 3.328162279103708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0543813914409839e-05, + "observation_loss": 9.71821373241255e-06, + "chamfer": 7.467875093425391e-06, + "track": 2.250338866360835e-06, + "acceleration": 8.256004662143823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0106901754625142e-05, + "observation_loss": 9.6170770120807e-06, + "chamfer": 7.394013209705008e-06, + "track": 2.223063802375691e-06, + "acceleration": 4.89824913074699e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.746927389642224e-06, + "observation_loss": 9.532256626698654e-06, + "chamfer": 7.3340761446161196e-06, + "track": 2.19818070945621e-06, + "acceleration": 2.1467096189553558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.584910912963096e-06, + "observation_loss": 9.334698916063644e-06, + "chamfer": 7.19021863915259e-06, + "track": 2.1444805042847292e-06, + "acceleration": 2.502121390079992e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.787397175387014e-06, + "observation_loss": 9.216395483235829e-06, + "chamfer": 7.102244126144797e-06, + "track": 2.1141511297173565e-06, + "acceleration": 5.710020332116983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3232967830845155e-05, + "observation_loss": 9.303913429903332e-06, + "chamfer": 7.134047791623743e-06, + "track": 2.1698654109059134e-06, + "acceleration": 3.929053946194472e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.213342238770565e-05, + "observation_loss": 9.533094271318987e-06, + "chamfer": 7.2860289037635084e-06, + "track": 2.2470653675554786e-06, + "acceleration": 2.600328116386663e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0569176083663478e-05, + "observation_loss": 9.510677045909688e-06, + "chamfer": 7.279189958353527e-06, + "track": 2.2314873149298364e-06, + "acceleration": 1.0584985830064397e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.039875678543467e-05, + "observation_loss": 9.571478585712612e-06, + "chamfer": 7.30399460735498e-06, + "track": 2.2674839783576317e-06, + "acceleration": 8.272780860352213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0056197425001301e-05, + "observation_loss": 9.655304893385619e-06, + "chamfer": 7.356737114605494e-06, + "track": 2.298568233527476e-06, + "acceleration": 4.008921905551688e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0149256013392005e-05, + "observation_loss": 9.790650437935255e-06, + "chamfer": 7.430254299833905e-06, + "track": 2.360396365475026e-06, + "acceleration": 3.586056038784591e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0242309144814499e-05, + "observation_loss": 9.935021807905287e-06, + "chamfer": 7.4979780038120225e-06, + "track": 2.437043804093264e-06, + "acceleration": 3.0728722322237445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.025118945108261e-05, + "observation_loss": 1.0152303730137646e-05, + "chamfer": 7.63976731832372e-06, + "track": 2.512536866561277e-06, + "acceleration": 9.888574936667283e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0547224519541487e-05, + "observation_loss": 1.045980206981767e-05, + "chamfer": 7.85312022344442e-06, + "track": 2.606681846373249e-06, + "acceleration": 8.742222945556932e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0790528904180974e-05, + "observation_loss": 1.0675628800527193e-05, + "chamfer": 7.998187356861308e-06, + "track": 2.6774409889185335e-06, + "acceleration": 1.1490004681036226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0871113772736862e-05, + "observation_loss": 1.0755006769613829e-05, + "chamfer": 8.037287443585228e-06, + "track": 2.7177195534022758e-06, + "acceleration": 1.1610691075247814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.09696784420521e-05, + "observation_loss": 1.08260410343064e-05, + "chamfer": 8.080880434135906e-06, + "track": 2.7451608275441686e-06, + "acceleration": 1.4363732248057204e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.107013758883113e-05, + "observation_loss": 1.091751255444251e-05, + "chamfer": 8.131653885357082e-06, + "track": 2.7858588964591036e-06, + "acceleration": 1.5262509123203927e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.1014491064997856e-05, + "observation_loss": 1.0927970834018197e-05, + "chamfer": 8.127542059810366e-06, + "track": 2.800428546834155e-06, + "acceleration": 8.652039440448789e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1173473467351869e-05, + "observation_loss": 1.0916784958681092e-05, + "chamfer": 8.11862810223829e-06, + "track": 2.7981564016954508e-06, + "acceleration": 2.566882528753922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1129073755000718e-05, + "observation_loss": 1.0993553587468341e-05, + "chamfer": 8.162890480889473e-06, + "track": 2.8306633339525433e-06, + "acceleration": 1.3552060806887312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1165372598043177e-05, + "observation_loss": 1.1068809726566542e-05, + "chamfer": 8.196920134651009e-06, + "track": 2.871889591915533e-06, + "acceleration": 9.656289279291741e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1215833183086943e-05, + "observation_loss": 1.1128024198114872e-05, + "chamfer": 8.233489097619895e-06, + "track": 2.894535100494977e-06, + "acceleration": 8.780886417980582e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1284356332907919e-05, + "observation_loss": 1.1205061127839144e-05, + "chamfer": 8.274491847259924e-06, + "track": 2.930569053205545e-06, + "acceleration": 7.929561718356126e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1266665751463734e-05, + "observation_loss": 1.1161266229464673e-05, + "chamfer": 8.251319741248153e-06, + "track": 2.909946260842844e-06, + "acceleration": 1.0539943673393282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1100974006694742e-05, + "observation_loss": 1.1008629371644929e-05, + "chamfer": 8.155320756486617e-06, + "track": 2.853308615158312e-06, + "acceleration": 9.234437925442762e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.231003382282628e-06, + "chamfer_mean": 5.6158735570003655e-06, + "track_mean": 1.5260740908000041e-06, + "acceleration_mean": 1.0890557521348043e-06, + "observation_score": 7.141947638918585e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4298442889994476 + }, + "score_arrays_file": "pass_scores/pass_end_0326.npz", + "score_arrays_sha256": "54527e4e3649116af00c4cc3999b9b69880a8a608ebf0df1d5b2db4b996bb878" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0327.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0327.json new file mode 100644 index 0000000000000000000000000000000000000000..052096e36d4aa0707b152505a1967006affdd8fd --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0327.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31392, + "completed_passes": 327, + "snapshot": "pass_end_0327", + "candidate": true, + "snapshot_arrays_sha256": "4cade44257a0770e942e0e22db5122ae020476742cfb8a8ee58282e8e590b016", + "score": 7.138837446518664e-06, + "score_result": { + "score": 7.138837446518664e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872375944207306e-06, + 3.1548049719276605e-06, + 3.2489210752828512e-06, + 3.68386417903821e-06, + 4.203770004096441e-06, + 4.4240723582333885e-06, + 4.1775888348638546e-06, + 4.022759185318137e-06, + 3.963030394515954e-06, + 4.062617790623335e-06, + 4.4396970224624965e-06, + 4.897912731394172e-06, + 5.205420620768564e-06, + 5.411488018580712e-06, + 5.407743174146162e-06, + 5.2979526117269415e-06, + 4.939672180626076e-06, + 4.55313647762523e-06, + 4.3739455577451736e-06, + 4.365090717328712e-06, + 4.322958830016432e-06, + 4.196237114229007e-06, + 4.1148296077153645e-06, + 4.1195639823854435e-06, + 4.159042873652652e-06, + 4.357960278866813e-06, + 4.757288479595445e-06, + 4.988866749044973e-06, + 4.964252184436191e-06, + 4.91965238325065e-06, + 5.074352884548716e-06, + 5.318345301930094e-06, + 5.605019396170974e-06, + 5.842759492225014e-06, + 5.90714807913173e-06, + 5.991596935928101e-06, + 6.2339277064893395e-06, + 6.359638973663095e-06, + 6.067176400392782e-06, + 5.618759132630657e-06, + 5.516415512829553e-06, + 5.7749502957449295e-06, + 5.973194674879778e-06, + 6.161878900456941e-06, + 6.235648925212445e-06, + 6.297002983046696e-06, + 6.4455202846147586e-06, + 6.916722668393049e-06, + 7.538827048847452e-06, + 7.92545688454993e-06, + 7.774910045554861e-06, + 7.5327843660488725e-06, + 7.321114026126452e-06, + 7.134585757739842e-06, + 7.1149693212646525e-06, + 7.15108762960881e-06, + 7.216030553536257e-06, + 7.287147127499338e-06, + 7.357411050179508e-06, + 7.493242719647242e-06, + 7.64506603445625e-06, + 7.804151209711563e-06, + 8.159335266100243e-06, + 8.65755464474205e-06, + 9.238966413249727e-06, + 9.56199801294133e-06, + 9.78304524323903e-06, + 9.99446365312906e-06, + 1.0102982741955202e-05, + 9.999826943385415e-06, + 9.729224984766915e-06, + 9.625880920793861e-06, + 9.538031918054912e-06, + 9.336971743323375e-06, + 9.211433280142955e-06, + 9.293878974858671e-06, + 9.520161256659776e-06, + 9.500480700808112e-06, + 9.558894817018881e-06, + 9.640165444579907e-06, + 9.775790204002988e-06, + 9.919770491251256e-06, + 1.0137370736629236e-05, + 1.0443141945870593e-05, + 1.0658372957550455e-05, + 1.0737371667346451e-05, + 1.0808200386236422e-05, + 1.0898264008574188e-05, + 1.0908969670708757e-05, + 1.0897661923081614e-05, + 1.0974067663482856e-05, + 1.1048936357838102e-05, + 1.110814991989173e-05, + 1.1184850336576346e-05, + 1.1141564755234867e-05, + 1.0989256225002464e-05 + ] + ], + "episode_mean_losses": [ + 7.138837446518664e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872375944207306e-06, + "observation_loss": 2.872375944207306e-06, + "chamfer": 2.4364048840652686e-06, + "track": 4.359710885637469e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.149649976170622e-05, + "observation_loss": 3.1548049719276605e-06, + "chamfer": 2.668088427526527e-06, + "track": 4.867164875577146e-07, + "acceleration": 3.8341695471899584e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3101178157958202e-05, + "observation_loss": 3.2489210752828512e-06, + "chamfer": 2.751185093075037e-06, + "track": 4.977359822078142e-07, + "acceleration": 1.9852257537422702e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0090692740050144e-05, + "observation_loss": 3.68386417903821e-06, + "chamfer": 3.1070260320120724e-06, + "track": 5.768382038695563e-07, + "acceleration": 6.406828106264584e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.78412800678052e-06, + "observation_loss": 4.203770004096441e-06, + "chamfer": 3.5262030451121973e-06, + "track": 6.77566845297406e-07, + "acceleration": 1.5803578889972414e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.517936187970918e-06, + "observation_loss": 4.4240723582333885e-06, + "chamfer": 3.701773721331847e-06, + "track": 7.222987505883793e-07, + "acceleration": 1.0938640571112046e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.817768513021292e-06, + "observation_loss": 4.1775888348638546e-06, + "chamfer": 3.5006557936867466e-06, + "track": 6.769330980205268e-07, + "acceleration": 6.401798486876942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.590936896420317e-06, + "observation_loss": 4.022759185318137e-06, + "chamfer": 3.3765331863833126e-06, + "track": 6.462261694650806e-07, + "acceleration": 5.681776542587613e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4372777665557805e-06, + "observation_loss": 3.963030394515954e-06, + "chamfer": 3.3312885534542147e-06, + "track": 6.317417273749015e-07, + "acceleration": 4.742471730878606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.367007477412699e-06, + "observation_loss": 4.062617790623335e-06, + "chamfer": 3.4131605843867874e-06, + "track": 6.494570925497101e-07, + "acceleration": 3.043897436327825e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.576321771310177e-06, + "observation_loss": 4.4396970224624965e-06, + "chamfer": 3.7202951261861017e-06, + "track": 7.194019531198137e-07, + "acceleration": 1.3662484832366317e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.989753961126553e-06, + "observation_loss": 4.897912731394172e-06, + "chamfer": 4.08834694098914e-06, + "track": 8.095660177787067e-07, + "acceleration": 9.184122973238118e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.2987379604019225e-06, + "observation_loss": 5.205420620768564e-06, + "chamfer": 4.341192834544927e-06, + "track": 8.642277862236369e-07, + "acceleration": 9.331732542250393e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.516703822650015e-06, + "observation_loss": 5.411488018580712e-06, + "chamfer": 4.5167435018811375e-06, + "track": 8.947446303864126e-07, + "acceleration": 1.0521560511733696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.467923074320424e-06, + "observation_loss": 5.407743174146162e-06, + "chamfer": 4.5175002014730126e-06, + "track": 8.902429726731498e-07, + "acceleration": 6.017974385486013e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.420452907856088e-06, + "observation_loss": 5.2979526117269415e-06, + "chamfer": 4.427799922268605e-06, + "track": 8.701528031451744e-07, + "acceleration": 1.225003956051296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.142787358636269e-06, + "observation_loss": 4.939672180626076e-06, + "chamfer": 4.1339030758535955e-06, + "track": 8.057688773988048e-07, + "acceleration": 2.0311527748617664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.864774837187724e-06, + "observation_loss": 4.55313647762523e-06, + "chamfer": 3.814714546024334e-06, + "track": 7.384220452877344e-07, + "acceleration": 3.1163833114078443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.539130259217927e-06, + "observation_loss": 4.3739455577451736e-06, + "chamfer": 3.6634751268138643e-06, + "track": 7.10470544618147e-07, + "acceleration": 1.6518488621386496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.548132437776076e-06, + "observation_loss": 4.365090717328712e-06, + "chamfer": 3.6520502817438683e-06, + "track": 7.130406061151007e-07, + "acceleration": 1.8304176307992748e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.613174041878665e-06, + "observation_loss": 4.322958830016432e-06, + "chamfer": 3.6159533465252025e-06, + "track": 7.070055971780675e-07, + "acceleration": 2.902153539707797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.481834366742987e-06, + "observation_loss": 4.196237114229007e-06, + "chamfer": 3.5121645396429813e-06, + "track": 6.840725177426066e-07, + "acceleration": 2.855974230442371e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.698391876445385e-06, + "observation_loss": 4.1148296077153645e-06, + "chamfer": 3.450168605922954e-06, + "track": 6.646610017924104e-07, + "acceleration": 5.83562325573439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.077331024949672e-06, + "observation_loss": 4.1195639823854435e-06, + "chamfer": 3.4502081689424813e-06, + "track": 6.693558702863811e-07, + "acceleration": 9.577669288773905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.868075393460458e-06, + "observation_loss": 4.159042873652652e-06, + "chamfer": 3.4658899039641256e-06, + "track": 6.931528560016886e-07, + "acceleration": 7.090325198078062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.720764991361648e-06, + "observation_loss": 4.357960278866813e-06, + "chamfer": 3.6125136375630973e-06, + "track": 7.45446754990553e-07, + "acceleration": 3.628044851211598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.041355507273693e-06, + "observation_loss": 4.757288479595445e-06, + "chamfer": 3.915471097570844e-06, + "track": 8.418175525548577e-07, + "acceleration": 2.840670845216664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.211868938204134e-06, + "observation_loss": 4.988866749044973e-06, + "chamfer": 4.0919035200204235e-06, + "track": 8.969632858679688e-07, + "acceleration": 2.2300227442428877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.352123935153941e-06, + "observation_loss": 4.964252184436191e-06, + "chamfer": 4.076253844687017e-06, + "track": 8.879981692189176e-07, + "acceleration": 3.878718075611687e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.241366579866735e-06, + "observation_loss": 4.91965238325065e-06, + "chamfer": 4.051219093526015e-06, + "track": 8.684334602548915e-07, + "acceleration": 3.2171402608582866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.301756118569756e-06, + "observation_loss": 5.074352884548716e-06, + "chamfer": 4.1832167880784255e-06, + "track": 8.911363238439662e-07, + "acceleration": 2.2740313454505667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6625008255650755e-06, + "observation_loss": 5.318345301930094e-06, + "chamfer": 4.378493031254038e-06, + "track": 9.398523843628936e-07, + "acceleration": 3.441555804784002e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.030507393006701e-06, + "observation_loss": 5.605019396170974e-06, + "chamfer": 4.607535629475024e-06, + "track": 9.974835393222747e-07, + "acceleration": 4.254881389442744e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.814161679358222e-06, + "observation_loss": 5.842759492225014e-06, + "chamfer": 4.7885846470308024e-06, + "track": 1.0541746178205358e-06, + "acceleration": 9.714019597595325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.98559688316891e-06, + "observation_loss": 5.90714807913173e-06, + "chamfer": 4.837062988372054e-06, + "track": 1.0700853181333514e-06, + "acceleration": 1.078448690350342e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.299367098312359e-06, + "observation_loss": 5.991596935928101e-06, + "chamfer": 4.883639576291898e-06, + "track": 1.1079573596362025e-06, + "acceleration": 1.3077701623842586e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.452965292031877e-06, + "observation_loss": 6.2339277064893395e-06, + "chamfer": 5.047894319432089e-06, + "track": 1.1860336144309258e-06, + "acceleration": 1.2190373581688618e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.504770110244863e-06, + "observation_loss": 6.359638973663095e-06, + "chamfer": 5.147043339093216e-06, + "track": 1.212595861943555e-06, + "acceleration": 1.1451311365817674e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.009587534412276e-06, + "observation_loss": 6.067176400392782e-06, + "chamfer": 4.9371697059541475e-06, + "track": 1.1300069218123099e-06, + "acceleration": 9.424109066458186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.914941993978573e-06, + "observation_loss": 5.618759132630657e-06, + "chamfer": 4.5901247176516335e-06, + "track": 1.0286345286658616e-06, + "acceleration": 2.9618280450449674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.823360424983548e-06, + "observation_loss": 5.516415512829553e-06, + "chamfer": 4.508101937972242e-06, + "track": 1.0083135748573113e-06, + "acceleration": 3.069450258408324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.032076271367259e-06, + "observation_loss": 5.7749502957449295e-06, + "chamfer": 4.694828476203838e-06, + "track": 1.080121819541091e-06, + "acceleration": 2.571257482486544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.070190920581808e-06, + "observation_loss": 5.973194674879778e-06, + "chamfer": 4.830117177334614e-06, + "track": 1.1430772701714886e-06, + "acceleration": 9.699626701831221e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.216997462615836e-06, + "observation_loss": 6.161878900456941e-06, + "chamfer": 4.9683872020978015e-06, + "track": 1.1934916983591393e-06, + "acceleration": 5.5118452024771614e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.323503384919604e-06, + "observation_loss": 6.235648925212445e-06, + "chamfer": 5.020774096919922e-06, + "track": 1.2148749419793603e-06, + "acceleration": 8.785439575831333e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.417909844458336e-06, + "observation_loss": 6.297002983046696e-06, + "chamfer": 5.066579433332663e-06, + "track": 1.2304234360271948e-06, + "acceleration": 1.2090686141164042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.631380074395565e-06, + "observation_loss": 6.4455202846147586e-06, + "chamfer": 5.18344722877373e-06, + "track": 1.262072942154191e-06, + "acceleration": 1.8585996031106333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.086360255925683e-06, + "observation_loss": 6.916722668393049e-06, + "chamfer": 5.537748165806988e-06, + "track": 1.3789743888992234e-06, + "acceleration": 1.696373743698132e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.68937297834782e-06, + "observation_loss": 7.538827048847452e-06, + "chamfer": 5.975720341666602e-06, + "track": 1.5631065934940125e-06, + "acceleration": 1.5054554580729018e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.210918167605996e-06, + "observation_loss": 7.92545688454993e-06, + "chamfer": 6.254931122384733e-06, + "track": 1.6705256484783604e-06, + "acceleration": 2.854615388514503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.060088475758675e-06, + "observation_loss": 7.774910045554861e-06, + "chamfer": 6.15613816989935e-06, + "track": 1.618771648281836e-06, + "acceleration": 2.851782028301386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.801644642313477e-06, + "observation_loss": 7.5327843660488725e-06, + "chamfer": 5.991116722725565e-06, + "track": 1.5416676433233079e-06, + "acceleration": 2.6885987836067216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.413627827190794e-06, + "observation_loss": 7.321114026126452e-06, + "chamfer": 5.832216629642062e-06, + "track": 1.4888975101712276e-06, + "acceleration": 9.251367316664982e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.182381068560062e-06, + "observation_loss": 7.134585757739842e-06, + "chamfer": 5.692257218470331e-06, + "track": 1.4423285392695107e-06, + "acceleration": 4.7795527535754445e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.174996426329017e-06, + "observation_loss": 7.1149693212646525e-06, + "chamfer": 5.673554369423073e-06, + "track": 1.4414150655284175e-06, + "acceleration": 6.002708374808208e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.232956704683602e-06, + "observation_loss": 7.15108762960881e-06, + "chamfer": 5.690711077477317e-06, + "track": 1.460376438444655e-06, + "acceleration": 8.18688761228259e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.261141945491545e-06, + "observation_loss": 7.216030553536257e-06, + "chamfer": 5.7356301113031805e-06, + "track": 1.4804003285462386e-06, + "acceleration": 4.511153761654896e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.491908945667092e-06, + "observation_loss": 7.287147127499338e-06, + "chamfer": 5.774344572273549e-06, + "track": 1.5128026689126273e-06, + "acceleration": 2.047616192157875e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.867589374654926e-06, + "observation_loss": 7.357411050179508e-06, + "chamfer": 5.828655048389919e-06, + "track": 1.5287561154764262e-06, + "acceleration": 5.101787223793508e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.536626410204917e-06, + "observation_loss": 7.493242719647242e-06, + "chamfer": 5.91724892728962e-06, + "track": 1.575993678670784e-06, + "acceleration": 1.0433833494971623e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.142899216385558e-06, + "observation_loss": 7.64506603445625e-06, + "chamfer": 6.036645118001616e-06, + "track": 1.6084210301414714e-06, + "acceleration": 1.4978334093029844e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.690794857102446e-06, + "observation_loss": 7.804151209711563e-06, + "chamfer": 6.15905719314469e-06, + "track": 1.6450936755063594e-06, + "acceleration": 8.8664381792114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.535290362488013e-06, + "observation_loss": 8.159335266100243e-06, + "chamfer": 6.416971700673457e-06, + "track": 1.7423640201741364e-06, + "acceleration": 3.759554374482832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.945063200371806e-06, + "observation_loss": 8.65755464474205e-06, + "chamfer": 6.759090865671169e-06, + "track": 1.8984635516972048e-06, + "acceleration": 2.875084419429186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.358416718896478e-06, + "observation_loss": 9.238966413249727e-06, + "chamfer": 7.1548342930327635e-06, + "track": 2.084132120216964e-06, + "acceleration": 1.1945017774905864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.654015229898505e-06, + "observation_loss": 9.56199801294133e-06, + "chamfer": 7.375148470600834e-06, + "track": 2.186849314966821e-06, + "acceleration": 9.201728801144782e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0067050425277557e-05, + "observation_loss": 9.78304524323903e-06, + "chamfer": 7.5284342528902926e-06, + "track": 2.254610535601387e-06, + "acceleration": 2.840055515207496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0169545930693857e-05, + "observation_loss": 9.99446365312906e-06, + "chamfer": 7.649236067663878e-06, + "track": 2.3452275854651816e-06, + "acceleration": 1.7508239125163527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0220949661743362e-05, + "observation_loss": 1.0102982741955202e-05, + "chamfer": 7.71091345086461e-06, + "track": 2.3920690637169173e-06, + "acceleration": 1.1796680610132171e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0333464160794392e-05, + "observation_loss": 9.999826943385415e-06, + "chamfer": 7.642500349902548e-06, + "track": 2.357326138735516e-06, + "acceleration": 3.3363693319188314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.055658322002273e-05, + "observation_loss": 9.729224984766915e-06, + "chamfer": 7.475529400835512e-06, + "track": 2.2536951291840523e-06, + "acceleration": 8.273578941953019e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0114417818840593e-05, + "observation_loss": 9.625880920793861e-06, + "chamfer": 7.400377398880664e-06, + "track": 2.225503521913197e-06, + "acceleration": 4.885364432993811e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.748881893756334e-06, + "observation_loss": 9.538031918054912e-06, + "chamfer": 7.338275736401556e-06, + "track": 2.1997564090270316e-06, + "acceleration": 2.1085000412313093e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.583060091244988e-06, + "observation_loss": 9.336971743323375e-06, + "chamfer": 7.191978511400521e-06, + "track": 2.1449930045491783e-06, + "acceleration": 2.4608803528280987e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.801932719710749e-06, + "observation_loss": 9.211433280142955e-06, + "chamfer": 7.09949108568253e-06, + "track": 2.1119426492077764e-06, + "acceleration": 5.904993258809554e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3308089364727493e-05, + "observation_loss": 9.293878974858671e-06, + "chamfer": 7.1271697379415855e-06, + "track": 2.166709236917086e-06, + "acceleration": 4.014210389868822e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2097050785087049e-05, + "observation_loss": 9.520161256659776e-06, + "chamfer": 7.277243184944382e-06, + "track": 2.2429182990890695e-06, + "acceleration": 2.5768897558009485e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.059935584635241e-05, + "observation_loss": 9.500480700808112e-06, + "chamfer": 7.272689799719956e-06, + "track": 2.2277911284618312e-06, + "acceleration": 1.098875145544298e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.040954975906061e-05, + "observation_loss": 9.558894817018881e-06, + "chamfer": 7.295132036233554e-06, + "track": 2.2637627807853278e-06, + "acceleration": 8.506551694154041e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0078166269522626e-05, + "observation_loss": 9.640165444579907e-06, + "chamfer": 7.346263373619877e-06, + "track": 2.2939022983337054e-06, + "acceleration": 4.3800088178613805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0171477697440423e-05, + "observation_loss": 9.775790204002988e-06, + "chamfer": 7.420312158501474e-06, + "track": 2.355478272875189e-06, + "acceleration": 3.956872092203412e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.024549510475481e-05, + "observation_loss": 9.919770491251256e-06, + "chamfer": 7.487555649277056e-06, + "track": 2.432215069347876e-06, + "acceleration": 3.2572467034697183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0237591595796403e-05, + "observation_loss": 1.0137370736629236e-05, + "chamfer": 7.629650099261198e-06, + "track": 2.5077208647417137e-06, + "acceleration": 1.0022061047720854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0529490282351617e-05, + "observation_loss": 1.0443141945870593e-05, + "chamfer": 7.841976184863597e-06, + "track": 2.6011655336333206e-06, + "acceleration": 8.634796699880098e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0771044799184892e-05, + "observation_loss": 1.0658372957550455e-05, + "chamfer": 7.986613127286546e-06, + "track": 2.671759830263909e-06, + "acceleration": 1.1267175636930915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0851397746591829e-05, + "observation_loss": 1.0737371667346451e-05, + "chamfer": 8.02564318291843e-06, + "track": 2.711728484428022e-06, + "acceleration": 1.1402568844687266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0951751391985454e-05, + "observation_loss": 1.0808200386236422e-05, + "chamfer": 8.06925800134195e-06, + "track": 2.738942157520796e-06, + "acceleration": 1.4355121891185263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1050986358895898e-05, + "observation_loss": 1.0898264008574188e-05, + "chamfer": 8.11915651866002e-06, + "track": 2.7791070351668168e-06, + "acceleration": 1.5272203768290638e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0993297109962441e-05, + "observation_loss": 1.0908969670708757e-05, + "chamfer": 8.115178388834465e-06, + "track": 2.793791509247967e-06, + "acceleration": 8.432757425680393e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1151694707223214e-05, + "observation_loss": 1.0897661923081614e-05, + "chamfer": 8.10624987934716e-06, + "track": 2.791412271108129e-06, + "acceleration": 2.5403232939424925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1108813851024024e-05, + "observation_loss": 1.0974067663482856e-05, + "chamfer": 8.150474059220869e-06, + "track": 2.823593604261987e-06, + "acceleration": 1.347460170109116e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1145773896714672e-05, + "observation_loss": 1.1048936357838102e-05, + "chamfer": 8.184221769624855e-06, + "track": 2.864715042960597e-06, + "acceleration": 9.683733992460475e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1195664228580426e-05, + "observation_loss": 1.110814991989173e-05, + "chamfer": 8.220787094614934e-06, + "track": 2.8873632800241467e-06, + "acceleration": 8.751390367933709e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1263486157986335e-05, + "observation_loss": 1.1184850336576346e-05, + "chamfer": 8.26161885925103e-06, + "track": 2.923231249951641e-06, + "acceleration": 7.863545903319391e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1246695976296905e-05, + "observation_loss": 1.1141564755234867e-05, + "chamfer": 8.238866030296776e-06, + "track": 2.90269827019074e-06, + "acceleration": 1.0513156212255126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.108172091335291e-05, + "observation_loss": 1.0989256225002464e-05, + "chamfer": 8.143029845086858e-06, + "track": 2.8462261525419308e-06, + "acceleration": 9.246438281707015e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.236030753986748e-06, + "chamfer_mean": 5.613759711309285e-06, + "track_mean": 1.525077742610866e-06, + "acceleration_mean": 1.0971932672410034e-06, + "observation_score": 7.138837446518664e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4294214669989742 + }, + "score_arrays_file": "pass_scores/pass_end_0327.npz", + "score_arrays_sha256": "815ae4152f0e1d16b0482e60c39429f8fdd5711d71b0c92a740dbdb72af72acc" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0328.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0328.json new file mode 100644 index 0000000000000000000000000000000000000000..d2a30709a43b322dd0243112f1e9db4a8d2d3c7f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0328.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31488, + "completed_passes": 328, + "snapshot": "pass_end_0328", + "candidate": true, + "snapshot_arrays_sha256": "e2d26325311b2f59bd0d131d60d23ebe5bb77c3961225f1d950a7ef76123ca32", + "score": 7.136300726055349e-06, + "score_result": { + "score": 7.136300726055349e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8724430194415618e-06, + 3.154719024678343e-06, + 3.2476059459440876e-06, + 3.6826763789576944e-06, + 4.202689979138086e-06, + 4.423566224431852e-06, + 4.1769444578676485e-06, + 4.021446329716127e-06, + 3.961352831538534e-06, + 4.0604895730211865e-06, + 4.4374583012540825e-06, + 4.895154233963694e-06, + 5.202182364882901e-06, + 5.407730895967688e-06, + 5.40386372449575e-06, + 5.294111360854004e-06, + 4.935880497214384e-06, + 4.549578079604544e-06, + 4.3705222196877e-06, + 4.3624545469356235e-06, + 4.319952040532371e-06, + 4.191713287582388e-06, + 4.108667781110853e-06, + 4.114058356208261e-06, + 4.155073838774115e-06, + 4.356597401056206e-06, + 4.755394911626354e-06, + 4.985228770237882e-06, + 4.957651981385425e-06, + 4.9142195166496094e-06, + 5.073156444268534e-06, + 5.32126205143868e-06, + 5.6124422371794935e-06, + 5.8513874137133826e-06, + 5.9157609939575195e-06, + 5.995748779241694e-06, + 6.23278901912272e-06, + 6.360257430060301e-06, + 6.06872481512255e-06, + 5.618708200927358e-06, + 5.512684765562881e-06, + 5.7699394346855115e-06, + 5.968830919300672e-06, + 6.158461019367678e-06, + 6.2327662817551754e-06, + 6.295928869803902e-06, + 6.443524853239069e-06, + 6.915021003806032e-06, + 7.5366215241956525e-06, + 7.922394615889061e-06, + 7.771269338263664e-06, + 7.530051789217396e-06, + 7.319054475374287e-06, + 7.132517112040659e-06, + 7.112883849913487e-06, + 7.1491908784082625e-06, + 7.214274319267133e-06, + 7.286000254680403e-06, + 7.357091817539185e-06, + 7.493559223803459e-06, + 7.646100129932165e-06, + 7.806436769897118e-06, + 8.162721314874943e-06, + 8.662225809530355e-06, + 9.244743523595389e-06, + 9.568865607434418e-06, + 9.79045762505848e-06, + 1.0002811904996634e-05, + 1.0112077688972931e-05, + 1.000851443677675e-05, + 9.73713758867234e-06, + 9.63240563578438e-06, + 9.541992767481133e-06, + 9.338891686638817e-06, + 9.207473340211436e-06, + 9.288463843404315e-06, + 9.514349585515447e-06, + 9.497563041804824e-06, + 9.553808013151865e-06, + 9.63250295171747e-06, + 9.767658411874436e-06, + 9.910530025081243e-06, + 1.0127137102244888e-05, + 1.043206975737121e-05, + 1.06468023659545e-05, + 1.0725598258432001e-05, + 1.0796233254950494e-05, + 1.0885791198234074e-05, + 1.0896568710450083e-05, + 1.0884868061111774e-05, + 1.0961179214064032e-05, + 1.1035728675778955e-05, + 1.1095016816398129e-05, + 1.1171523510711268e-05, + 1.1128609912702814e-05, + 1.0976279554597568e-05 + ] + ], + "episode_mean_losses": [ + 7.136300726055349e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8724430194415618e-06, + "observation_loss": 2.8724430194415618e-06, + "chamfer": 2.4364510409213835e-06, + "track": 4.3599197852017824e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1499832150293514e-05, + "observation_loss": 3.154719024678343e-06, + "chamfer": 2.66801043835585e-06, + "track": 4.867085863224929e-07, + "acceleration": 3.834511153399944e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.309367118868977e-05, + "observation_loss": 3.2476059459440876e-06, + "chamfer": 2.750092335190857e-06, + "track": 4.975137244400685e-07, + "acceleration": 1.984606569749303e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.008748404274229e-05, + "observation_loss": 3.6826763789576944e-06, + "chamfer": 3.1060335459187627e-06, + "track": 5.766427761955129e-07, + "acceleration": 6.404807663784595e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.7755505622481e-06, + "observation_loss": 4.202689979138086e-06, + "chamfer": 3.5252942325314507e-06, + "track": 6.773955760763783e-07, + "acceleration": 1.5728604694231763e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.515198608918581e-06, + "observation_loss": 4.423566224431852e-06, + "chamfer": 3.7013144265074516e-06, + "track": 7.222518547678192e-07, + "acceleration": 1.0916326118604047e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.815512511413544e-06, + "observation_loss": 4.1769444578676485e-06, + "chamfer": 3.500063485262217e-06, + "track": 6.768809726054315e-07, + "acceleration": 6.385678830156394e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.590968273987528e-06, + "observation_loss": 4.021446329716127e-06, + "chamfer": 3.3753835850802716e-06, + "track": 6.460628014792746e-07, + "acceleration": 5.695217168977251e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.435931259649806e-06, + "observation_loss": 3.961352831538534e-06, + "chamfer": 3.3298474590992555e-06, + "track": 6.315054292826972e-07, + "acceleration": 4.745782007375965e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.365299446362769e-06, + "observation_loss": 4.0604895730211865e-06, + "chamfer": 3.4113668334612157e-06, + "track": 6.491225690297142e-07, + "acceleration": 3.0481007229354873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.574725608108565e-06, + "observation_loss": 4.4374583012540825e-06, + "chamfer": 3.7184488519415027e-06, + "track": 7.190092787823232e-07, + "acceleration": 1.3726715053508087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.98696181239211e-06, + "observation_loss": 4.895154233963694e-06, + "chamfer": 4.086099124833709e-06, + "track": 8.090552796602424e-07, + "acceleration": 9.180768500982595e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.296174094837625e-06, + "observation_loss": 5.202182364882901e-06, + "chamfer": 4.338563940109452e-06, + "track": 8.636184247734491e-07, + "acceleration": 9.39918933795525e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.513153610081645e-06, + "observation_loss": 5.407730895967688e-06, + "chamfer": 4.513689418672584e-06, + "track": 8.94041647825361e-07, + "acceleration": 1.0542257911083652e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.463913566927658e-06, + "observation_loss": 5.40386372449575e-06, + "chamfer": 4.514357897278387e-06, + "track": 8.895059977476194e-07, + "acceleration": 6.004981401019904e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.416399289970286e-06, + "observation_loss": 5.294111360854004e-06, + "chamfer": 4.42467853645212e-06, + "track": 8.694329380887211e-07, + "acceleration": 1.222877301643166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.138670985616045e-06, + "observation_loss": 4.935880497214384e-06, + "chamfer": 4.130812612856971e-06, + "track": 8.050681117310887e-07, + "acceleration": 2.0279060208849842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.861487468588166e-06, + "observation_loss": 4.549578079604544e-06, + "chamfer": 3.811808710452169e-06, + "track": 7.377693123089557e-07, + "acceleration": 3.1190961635729764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.535702373686945e-06, + "observation_loss": 4.3705222196877e-06, + "chamfer": 3.6606204503186746e-06, + "track": 7.099015988387691e-07, + "acceleration": 1.6518036716206552e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.544066086964449e-06, + "observation_loss": 4.3624545469356235e-06, + "chamfer": 3.6498502140602795e-06, + "track": 7.126045034056006e-07, + "acceleration": 1.816114405528424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6103436943667475e-06, + "observation_loss": 4.319952040532371e-06, + "chamfer": 3.613454737205757e-06, + "track": 7.064974170134519e-07, + "acceleration": 2.9039154014753876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.480143616092391e-06, + "observation_loss": 4.191713287582388e-06, + "chamfer": 3.5084342471236596e-06, + "track": 6.83278869928472e-07, + "acceleration": 2.884302716665843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.702968908532057e-06, + "observation_loss": 4.108667781110853e-06, + "chamfer": 3.4450674775143852e-06, + "track": 6.6360018990963e-07, + "acceleration": 5.943009000475286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.076597517472692e-06, + "observation_loss": 4.114058356208261e-06, + "chamfer": 3.4456227240298176e-06, + "track": 6.68435404804768e-07, + "acceleration": 9.625393886381062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.863967660639901e-06, + "observation_loss": 4.155073838774115e-06, + "chamfer": 3.462536142251338e-06, + "track": 6.925375828359392e-07, + "acceleration": 7.088938787092047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.711680503532989e-06, + "observation_loss": 4.356597401056206e-06, + "chamfer": 3.6112928682996426e-06, + "track": 7.453043622263067e-07, + "acceleration": 3.550829319465265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.032801254856167e-06, + "observation_loss": 4.755394911626354e-06, + "chamfer": 3.9139349610195495e-06, + "track": 8.414598937633855e-07, + "acceleration": 2.774063432298135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.207663434703136e-06, + "observation_loss": 4.985228770237882e-06, + "chamfer": 4.089049980393611e-06, + "track": 8.961787898442708e-07, + "acceleration": 2.2243446551328816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.350925221137004e-06, + "observation_loss": 4.957651981385425e-06, + "chamfer": 4.070918748766417e-06, + "track": 8.867334031492646e-07, + "acceleration": 3.9327323975157924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2444379434746224e-06, + "observation_loss": 4.9142195166496094e-06, + "chamfer": 4.046773483423749e-06, + "track": 8.67446203756117e-07, + "acceleration": 3.3021854051185073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.299350050336216e-06, + "observation_loss": 5.073156444268534e-06, + "chamfer": 4.182164502708474e-06, + "track": 8.909921120903164e-07, + "acceleration": 2.261937197545194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.677613899024436e-06, + "observation_loss": 5.32126205143868e-06, + "chamfer": 4.380694008432329e-06, + "track": 9.405682135366078e-07, + "acceleration": 3.5635184758575633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.056983693270013e-06, + "observation_loss": 5.6124422371794935e-06, + "chamfer": 4.613358669303125e-06, + "track": 9.990835678763688e-07, + "acceleration": 4.4454151293393807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.848306838946883e-06, + "observation_loss": 5.8513874137133826e-06, + "chamfer": 4.795538643520558e-06, + "track": 1.0558487701928243e-06, + "acceleration": 9.969193115466624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.037800969555974e-06, + "observation_loss": 5.9157609939575195e-06, + "chamfer": 4.844167506234953e-06, + "track": 1.071593260348891e-06, + "acceleration": 1.12204020297213e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.381667273875792e-06, + "observation_loss": 5.995748779241694e-06, + "chamfer": 4.8875240281631704e-06, + "track": 1.108224637391686e-06, + "acceleration": 1.3859183809472597e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.555471256637247e-06, + "observation_loss": 6.23278901912272e-06, + "chamfer": 5.047534614277538e-06, + "track": 1.1852544048451819e-06, + "acceleration": 1.3226821238276898e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.58195301386877e-06, + "observation_loss": 6.360257430060301e-06, + "chamfer": 5.14773273607716e-06, + "track": 1.2125249213568168e-06, + "acceleration": 1.2216955838084687e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.095688943081768e-06, + "observation_loss": 6.06872481512255e-06, + "chamfer": 4.938369784213137e-06, + "track": 1.1303551445962512e-06, + "acceleration": 1.0269640142723802e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.928652171860449e-06, + "observation_loss": 5.618708200927358e-06, + "chamfer": 4.5901488192612305e-06, + "track": 1.0285591542924521e-06, + "acceleration": 3.0994419830676634e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.81665653953678e-06, + "observation_loss": 5.512684765562881e-06, + "chamfer": 4.505255674303044e-06, + "track": 1.0074288638861617e-06, + "acceleration": 3.0397185923902725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.033797035343014e-06, + "observation_loss": 5.7699394346855115e-06, + "chamfer": 4.690984042099444e-06, + "track": 1.078955506272905e-06, + "acceleration": 2.6385774276604934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.062264674255857e-06, + "observation_loss": 5.968830919300672e-06, + "chamfer": 4.826666554436088e-06, + "track": 1.1421641374909086e-06, + "acceleration": 9.343369100633936e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.209069397300482e-06, + "observation_loss": 6.158461019367678e-06, + "chamfer": 4.965740117768291e-06, + "track": 1.1927209015993867e-06, + "acceleration": 5.060825358782495e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.317938186839456e-06, + "observation_loss": 6.2327662817551754e-06, + "chamfer": 5.018591309635667e-06, + "track": 1.2141748584326706e-06, + "acceleration": 8.517191929513501e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.413332357624313e-06, + "observation_loss": 6.295928869803902e-06, + "chamfer": 5.065630830358714e-06, + "track": 1.2302978120715125e-06, + "acceleration": 1.1740332439558188e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.630386451433878e-06, + "observation_loss": 6.443524853239069e-06, + "chamfer": 5.181886081118137e-06, + "track": 1.2616387721209321e-06, + "acceleration": 1.868617687250662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.085299330356065e-06, + "observation_loss": 6.915021003806032e-06, + "chamfer": 5.5365135267493315e-06, + "track": 1.3785072496830253e-06, + "acceleration": 1.7027831233917823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.686034223297611e-06, + "observation_loss": 7.5366215241956525e-06, + "chamfer": 5.974192845314974e-06, + "track": 1.5624285651938408e-06, + "acceleration": 1.494125001499924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.208337021642365e-06, + "observation_loss": 7.922394615889061e-06, + "chamfer": 6.252731964195846e-06, + "track": 1.6696623106327024e-06, + "acceleration": 2.859428605006542e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.059373612923082e-06, + "observation_loss": 7.771269338263664e-06, + "chamfer": 6.153517915663542e-06, + "track": 1.6177517636606353e-06, + "acceleration": 2.8810396202061384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.799574632372241e-06, + "observation_loss": 7.530051789217396e-06, + "chamfer": 5.989118108118419e-06, + "track": 1.540933681098977e-06, + "acceleration": 2.695224168292043e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.412059403577587e-06, + "observation_loss": 7.319054475374287e-06, + "chamfer": 5.8306764003646094e-06, + "track": 1.4883780750096776e-06, + "acceleration": 9.300504899556472e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1793547249399126e-06, + "observation_loss": 7.132517112040659e-06, + "chamfer": 5.6906619647634216e-06, + "track": 1.4418552609640756e-06, + "acceleration": 4.683738907829138e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.172442565206438e-06, + "observation_loss": 7.112883849913487e-06, + "chamfer": 5.671920007443987e-06, + "track": 1.4409638424695004e-06, + "acceleration": 5.9558676213100625e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.230932169477455e-06, + "observation_loss": 7.1491908784082625e-06, + "chamfer": 5.689226327376673e-06, + "track": 1.4599646647184272e-06, + "acceleration": 8.174124843662867e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.259519861690933e-06, + "observation_loss": 7.214274319267133e-06, + "chamfer": 5.734194019169081e-06, + "track": 1.48008041378489e-06, + "acceleration": 4.524560992535953e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.491308679163922e-06, + "observation_loss": 7.286000254680403e-06, + "chamfer": 5.7733841458684765e-06, + "track": 1.5126163361856015e-06, + "acceleration": 2.053086518571945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.868060492910445e-06, + "observation_loss": 7.357091817539185e-06, + "chamfer": 5.828356734127738e-06, + "track": 1.52873496972461e-06, + "acceleration": 5.109683343107463e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.538500878785271e-06, + "observation_loss": 7.493559223803459e-06, + "chamfer": 5.917444468650501e-06, + "track": 1.5761148688397952e-06, + "acceleration": 1.0449417686686502e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.147056516667362e-06, + "observation_loss": 7.646100129932165e-06, + "chamfer": 6.03736543780542e-06, + "track": 1.6087345784399076e-06, + "acceleration": 1.500956045674684e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.696094482729677e-06, + "observation_loss": 7.806436769897118e-06, + "chamfer": 6.160775228636339e-06, + "track": 1.645661882321292e-06, + "acceleration": 8.896575991457212e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.540318958694115e-06, + "observation_loss": 8.162721314874943e-06, + "chamfer": 6.419424153136788e-06, + "track": 1.7432972754249931e-06, + "acceleration": 3.775977859277191e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.95081120688701e-06, + "observation_loss": 8.662225809530355e-06, + "chamfer": 6.762402335880324e-06, + "track": 1.8998232462763553e-06, + "acceleration": 2.8858519840468944e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.364868674310856e-06, + "observation_loss": 9.244743523595389e-06, + "chamfer": 7.158839252952021e-06, + "track": 2.085904498017044e-06, + "acceleration": 1.201247954440987e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.66138941294048e-06, + "observation_loss": 9.568865607434418e-06, + "chamfer": 7.379920134553686e-06, + "track": 2.188945245507057e-06, + "acceleration": 9.252373445178819e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0074958481709473e-05, + "observation_loss": 9.79045762505848e-06, + "chamfer": 7.533689768024487e-06, + "track": 2.256767857033992e-06, + "acceleration": 2.845012261332158e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.017759586829925e-05, + "observation_loss": 1.0002811904996634e-05, + "chamfer": 7.655268746020738e-06, + "track": 2.347543386349571e-06, + "acceleration": 1.7478372171808587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0229848157905508e-05, + "observation_loss": 1.0112077688972931e-05, + "chamfer": 7.717532753304113e-06, + "track": 2.394544708295143e-06, + "acceleration": 1.1777019182090953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0342200766899623e-05, + "observation_loss": 1.000851443677675e-05, + "chamfer": 7.648716746189166e-06, + "track": 2.3597974632139085e-06, + "acceleration": 3.3368647223142034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0564952390268445e-05, + "observation_loss": 9.73713758867234e-06, + "chamfer": 7.481172360712662e-06, + "track": 2.255965000586002e-06, + "acceleration": 8.278151995000371e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0119227226823568e-05, + "observation_loss": 9.63240563578438e-06, + "chamfer": 7.405160886264639e-06, + "track": 2.2272442947723903e-06, + "acceleration": 4.868217047260259e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.749359378474765e-06, + "observation_loss": 9.541992767481133e-06, + "chamfer": 7.341161108342931e-06, + "track": 2.2008314317645272e-06, + "acceleration": 2.073668952107255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.579400284565054e-06, + "observation_loss": 9.338891686638817e-06, + "chamfer": 7.193370493041584e-06, + "track": 2.145520738849882e-06, + "acceleration": 2.4050856950452726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.809293260332197e-06, + "observation_loss": 9.207473340211436e-06, + "chamfer": 7.097179604897974e-06, + "track": 2.1102935079397867e-06, + "acceleration": 6.018199201207608e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3365411177801434e-05, + "observation_loss": 9.288463843404315e-06, + "chamfer": 7.123369414330227e-06, + "track": 2.1650939743267372e-06, + "acceleration": 4.0769473343971185e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2069604053976946e-05, + "observation_loss": 9.514349585515447e-06, + "chamfer": 7.273230039572809e-06, + "track": 2.241120000689989e-06, + "acceleration": 2.555254695835174e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0630266842781566e-05, + "observation_loss": 9.497563041804824e-06, + "chamfer": 7.27097358321771e-06, + "track": 2.2265894585871138e-06, + "acceleration": 1.132704255724093e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.042849453369854e-05, + "observation_loss": 9.553808013151865e-06, + "chamfer": 7.291403107956285e-06, + "track": 2.2624046778219054e-06, + "acceleration": 8.74686406859837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0105386536451988e-05, + "observation_loss": 9.63250295171747e-06, + "chamfer": 7.3408896241744515e-06, + "track": 2.291613100169343e-06, + "acceleration": 4.728835847345181e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0197210940532386e-05, + "observation_loss": 9.767658411874436e-06, + "chamfer": 7.414931133098435e-06, + "track": 2.3527275061496766e-06, + "acceleration": 4.2955298340530135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0251899766444694e-05, + "observation_loss": 9.910530025081243e-06, + "chamfer": 7.481354714400368e-06, + "track": 2.429175538054551e-06, + "acceleration": 3.4136931503780943e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.022903870762093e-05, + "observation_loss": 1.0127137102244888e-05, + "chamfer": 7.6228116085985675e-06, + "track": 2.50432549364632e-06, + "acceleration": 1.01901676430316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.051791332429275e-05, + "observation_loss": 1.043206975737121e-05, + "chamfer": 7.834670213924255e-06, + "track": 2.5973999981943052e-06, + "acceleration": 8.584338218042831e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0758371900010388e-05, + "observation_loss": 1.06468023659545e-05, + "chamfer": 7.978957910381723e-06, + "track": 2.667844228199101e-06, + "acceleration": 1.115698609055471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0837885383807588e-05, + "observation_loss": 1.0725598258432001e-05, + "chamfer": 8.018008884391747e-06, + "track": 2.707589601413929e-06, + "acceleration": 1.12287175113579e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0939455023617484e-05, + "observation_loss": 1.0796233254950494e-05, + "chamfer": 8.061575499596074e-06, + "track": 2.734657527980744e-06, + "acceleration": 1.4322154129331466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1038163393095601e-05, + "observation_loss": 1.0885791198234074e-05, + "chamfer": 8.111084753181785e-06, + "track": 2.774706672425964e-06, + "acceleration": 1.5237239381349355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0978757927659899e-05, + "observation_loss": 1.0896568710450083e-05, + "chamfer": 8.107150279101916e-06, + "track": 2.789418203974492e-06, + "acceleration": 8.218947300520085e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1135383829241619e-05, + "observation_loss": 1.0884868061111774e-05, + "chamfer": 8.098005309875589e-06, + "track": 2.7868627512361854e-06, + "acceleration": 2.505157681298442e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.10940272861626e-05, + "observation_loss": 1.0961179214064032e-05, + "chamfer": 8.142362275975756e-06, + "track": 2.8188173928356264e-06, + "acceleration": 1.3284787314660207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.113248072215356e-05, + "observation_loss": 1.1035728675778955e-05, + "chamfer": 8.175813491106965e-06, + "track": 2.8599151846719906e-06, + "acceleration": 9.675206058545882e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1182267371623311e-05, + "observation_loss": 1.1095016816398129e-05, + "chamfer": 8.212461580114905e-06, + "track": 2.882555236283224e-06, + "acceleration": 8.725011468868615e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1249681847402826e-05, + "observation_loss": 1.1171523510711268e-05, + "chamfer": 8.253164196503349e-06, + "track": 2.91835976895527e-06, + "acceleration": 7.815835090241308e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1233341865590774e-05, + "observation_loss": 1.1128609912702814e-05, + "chamfer": 8.230748790083453e-06, + "track": 2.8978611226193607e-06, + "acceleration": 1.0473191025539563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1068462299590465e-05, + "observation_loss": 1.0976279554597568e-05, + "chamfer": 8.134776180668268e-06, + "track": 2.8415033739292994e-06, + "acceleration": 9.218275920375163e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.24013839443675e-06, + "chamfer_mean": 5.612015838115288e-06, + "track_mean": 1.524284879650395e-06, + "acceleration_mean": 1.1038376503957892e-06, + "observation_score": 7.136300726055349e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4303629090009053 + }, + "score_arrays_file": "pass_scores/pass_end_0328.npz", + "score_arrays_sha256": "649fc0975305840816dfb90f62e27c05f28395107e35a82d6ea1b9d46f4d03af" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0329.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0329.json new file mode 100644 index 0000000000000000000000000000000000000000..c11d85c1f936c294d4da4fb066640ac0b1bca070 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0329.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31584, + "completed_passes": 329, + "snapshot": "pass_end_0329", + "candidate": true, + "snapshot_arrays_sha256": "44d6d5f18caf64a948e8cce952673e5e66b46d211002d9124eb480a2f483b7ac", + "score": 7.133470691182235e-06, + "score_result": { + "score": 7.133470691182235e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872484174076817e-06, + 3.154502564939321e-06, + 3.2461509817949263e-06, + 3.681371708808001e-06, + 4.20181004301412e-06, + 4.423337031767005e-06, + 4.176592483418062e-06, + 4.020154392492259e-06, + 3.95975530409487e-06, + 4.057819296576781e-06, + 4.434805305209011e-06, + 4.892256583843846e-06, + 5.19913464813726e-06, + 5.404241164796986e-06, + 5.400329882832011e-06, + 5.2906393648299854e-06, + 4.932698175252881e-06, + 4.5464266804629005e-06, + 4.367843757790979e-06, + 4.360654656920815e-06, + 4.3186005314055365e-06, + 4.189043011137983e-06, + 4.10454686061712e-06, + 4.1101716306002345e-06, + 4.152032943238737e-06, + 4.3557533899729606e-06, + 4.752930180984549e-06, + 4.980697212886298e-06, + 4.95044196213712e-06, + 4.907681613985915e-06, + 5.069110557087697e-06, + 5.319352567312308e-06, + 5.615826466964791e-06, + 5.8563700804370455e-06, + 5.9208236962149385e-06, + 5.996603704261361e-06, + 6.2299504861584865e-06, + 6.360521638271166e-06, + 6.0688521443807986e-06, + 5.6175608733610716e-06, + 5.507925834535854e-06, + 5.7650127018860076e-06, + 5.964743650110904e-06, + 6.154806214908604e-06, + 6.229260179679841e-06, + 6.2943277043814305e-06, + 6.440980087063508e-06, + 6.914225195941981e-06, + 7.536037628597114e-06, + 7.91948514233809e-06, + 7.76876913732849e-06, + 7.529724825872108e-06, + 7.3202922976634e-06, + 7.134678980946774e-06, + 7.114590971468715e-06, + 7.150635155994678e-06, + 7.215932782855816e-06, + 7.2886723501142114e-06, + 7.3603314376669005e-06, + 7.497755177610088e-06, + 7.650553925486747e-06, + 7.81254220783012e-06, + 8.170479304681066e-06, + 8.671566320117563e-06, + 9.255303666577674e-06, + 9.579894140188117e-06, + 9.802004569792189e-06, + 1.0015418411057908e-05, + 1.0125011613126844e-05, + 1.0020412446465343e-05, + 9.747029253048822e-06, + 9.640409189159982e-06, + 9.546723049425054e-06, + 9.340952601633035e-06, + 9.202894943882711e-06, + 9.281312486564275e-06, + 9.505390153208282e-06, + 9.491212040302344e-06, + 9.544780368742067e-06, + 9.620366654417012e-06, + 9.756053259479813e-06, + 9.897699783323333e-06, + 1.0113053576787934e-05, + 1.041662926581921e-05, + 1.0630968972691335e-05, + 1.0709730304370169e-05, + 1.0780035154311918e-05, + 1.0868900972127449e-05, + 1.0879631190618966e-05, + 1.0867554010474123e-05, + 1.0943848792521749e-05, + 1.1018124496331438e-05, + 1.1077132512582466e-05, + 1.1153155355714262e-05, + 1.111030996980844e-05, + 1.0958034181385301e-05 + ] + ], + "episode_mean_losses": [ + 7.133470691182235e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872484174076817e-06, + "observation_loss": 2.872484174076817e-06, + "chamfer": 2.4364746877836296e-06, + "track": 4.360095147148968e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.150466702412814e-05, + "observation_loss": 3.154502564939321e-06, + "chamfer": 2.667823082447285e-06, + "track": 4.866794824920362e-07, + "acceleration": 3.8350164686562493e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3086000510375015e-05, + "observation_loss": 3.2461509817949263e-06, + "chamfer": 2.748882707237499e-06, + "track": 4.972682745574275e-07, + "acceleration": 1.9839850210701115e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.00833340184181e-05, + "observation_loss": 3.681371708808001e-06, + "chamfer": 3.104943516518688e-06, + "track": 5.764281922893133e-07, + "acceleration": 6.401962309610099e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.767174570792122e-06, + "observation_loss": 4.20181004301412e-06, + "chamfer": 3.5245466278865933e-06, + "track": 6.772635288143647e-07, + "acceleration": 1.5653646414648392e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.514349140867125e-06, + "observation_loss": 4.423337031767005e-06, + "chamfer": 3.7010718187957536e-06, + "track": 7.222652698146703e-07, + "acceleration": 1.0910123364737956e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.813824489247054e-06, + "observation_loss": 4.176592483418062e-06, + "chamfer": 3.4997040074813413e-06, + "track": 6.768887033103965e-07, + "acceleration": 6.37232233202667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.591493052430451e-06, + "observation_loss": 4.020154392492259e-06, + "chamfer": 3.374242851350573e-06, + "track": 6.459117116719426e-07, + "acceleration": 5.713388873118674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.43533326688339e-06, + "observation_loss": 3.95975530409487e-06, + "chamfer": 3.3284675282629905e-06, + "track": 6.312877758318791e-07, + "acceleration": 4.7557813331877696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.362572781246854e-06, + "observation_loss": 4.057819296576781e-06, + "chamfer": 3.409123110031942e-06, + "track": 6.486961297014204e-07, + "acceleration": 3.0475362677861995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.572190846374724e-06, + "observation_loss": 4.434805305209011e-06, + "chamfer": 3.7162578792049317e-06, + "track": 7.185475965343358e-07, + "acceleration": 1.373854274788755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.984214228898054e-06, + "observation_loss": 4.892256583843846e-06, + "chamfer": 4.083726253156783e-06, + "track": 8.085304443739005e-07, + "acceleration": 9.195753847279775e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.2934988161723595e-06, + "observation_loss": 5.19913464813726e-06, + "chamfer": 4.3360755626054015e-06, + "track": 8.630593129055342e-07, + "acceleration": 9.436417514052664e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.509500624611974e-06, + "observation_loss": 5.404241164796986e-06, + "chamfer": 4.510841790761333e-06, + "track": 8.933993171922339e-07, + "acceleration": 1.0525944560413336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.460342890728498e-06, + "observation_loss": 5.400329882832011e-06, + "chamfer": 4.511489350988995e-06, + "track": 8.888404749995971e-07, + "acceleration": 6.001287999879423e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.4129573072714265e-06, + "observation_loss": 5.2906393648299854e-06, + "chamfer": 4.421849098434905e-06, + "track": 8.687903232384997e-07, + "acceleration": 1.223179282305864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.135468654771103e-06, + "observation_loss": 4.932698175252881e-06, + "chamfer": 4.128218733967515e-06, + "track": 8.044794412853662e-07, + "acceleration": 2.0277055057249527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.859256478084717e-06, + "observation_loss": 4.5464266804629005e-06, + "chamfer": 3.8092346130724763e-06, + "track": 7.371918400167488e-07, + "acceleration": 3.1282974077839754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.533290393737843e-06, + "observation_loss": 4.367843757790979e-06, + "chamfer": 3.6583833207259886e-06, + "track": 7.09460209691315e-07, + "acceleration": 1.654466785794284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.5404271986626554e-06, + "observation_loss": 4.360654656920815e-06, + "chamfer": 3.648334086392424e-06, + "track": 7.123204568415531e-07, + "acceleration": 1.7977247068756697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.609968073054915e-06, + "observation_loss": 4.3186005314055365e-06, + "chamfer": 3.612307864386821e-06, + "track": 7.062927238621342e-07, + "acceleration": 2.91367683757926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.479458311834605e-06, + "observation_loss": 4.189043011137983e-06, + "chamfer": 3.5062212191405706e-06, + "track": 6.828219625276688e-07, + "acceleration": 2.9041510174465657e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.700134013546631e-06, + "observation_loss": 4.10454686061712e-06, + "chamfer": 3.4416614198562456e-06, + "track": 6.628852702306176e-07, + "acceleration": 5.955872097729298e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.0612902668945026e-06, + "observation_loss": 4.1101716306002345e-06, + "chamfer": 3.4423696888552513e-06, + "track": 6.678018280581455e-07, + "acceleration": 9.511185226074304e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.852134679822484e-06, + "observation_loss": 4.152032943238737e-06, + "chamfer": 3.4599472655827412e-06, + "track": 6.920858481862524e-07, + "acceleration": 7.001016797403281e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.700693807535572e-06, + "observation_loss": 4.3557533899729606e-06, + "chamfer": 3.6104879654885735e-06, + "track": 7.452653107975493e-07, + "acceleration": 3.449405312494491e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.022199729864951e-06, + "observation_loss": 4.752930180984549e-06, + "chamfer": 3.911941348633263e-06, + "track": 8.409887186644482e-07, + "acceleration": 2.6926960572382086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.200678060646169e-06, + "observation_loss": 4.980697212886298e-06, + "chamfer": 4.085452928848099e-06, + "track": 8.952444545684557e-07, + "acceleration": 2.199810325009821e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.348442300601164e-06, + "observation_loss": 4.95044196213712e-06, + "chamfer": 4.065100711159175e-06, + "track": 8.85341080447688e-07, + "acceleration": 3.9800053741601005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.246988166618394e-06, + "observation_loss": 4.907681613985915e-06, + "chamfer": 4.0414524846710265e-06, + "track": 8.662291293148883e-07, + "acceleration": 3.3930658105418843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.291891284286976e-06, + "observation_loss": 5.069110557087697e-06, + "chamfer": 4.178787548880791e-06, + "track": 8.903228376766492e-07, + "acceleration": 2.2278049982560333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6734111240075435e-06, + "observation_loss": 5.319352567312308e-06, + "chamfer": 4.3789923438453116e-06, + "track": 9.40360280310415e-07, + "acceleration": 3.540585851169453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 6.0318675423332024e-06, + "observation_loss": 5.615826466964791e-06, + "chamfer": 4.615975740307476e-06, + "track": 9.998507266573142e-07, + "acceleration": 4.1604116063354013e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.792821295675822e-06, + "observation_loss": 5.8563700804370455e-06, + "chamfer": 4.7995990826166235e-06, + "track": 1.0567708841335843e-06, + "acceleration": 9.364512152387761e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.0250703174679074e-06, + "observation_loss": 5.9208236962149385e-06, + "chamfer": 4.84858765048557e-06, + "track": 1.072236045729369e-06, + "acceleration": 1.104246621252969e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.492989880120149e-06, + "observation_loss": 5.996603704261361e-06, + "chamfer": 4.888910552836023e-06, + "track": 1.1076932651121751e-06, + "acceleration": 1.4963861758587882e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.654321962036192e-06, + "observation_loss": 6.2299504861584865e-06, + "chamfer": 5.045898888056399e-06, + "track": 1.1840517117889249e-06, + "acceleration": 1.4243719306250568e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.663090400455985e-06, + "observation_loss": 6.360521638271166e-06, + "chamfer": 5.148119271325413e-06, + "track": 1.2124022532589152e-06, + "acceleration": 1.3025691032453324e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.189217740233289e-06, + "observation_loss": 6.0688521443807986e-06, + "chamfer": 4.9385753300157376e-06, + "track": 1.1302767006782233e-06, + "acceleration": 1.1203654821656528e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.937032710789936e-06, + "observation_loss": 5.6175608733610716e-06, + "chamfer": 4.589400305121671e-06, + "track": 1.0281604545525624e-06, + "acceleration": 3.194716668986075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.814229552925099e-06, + "observation_loss": 5.507925834535854e-06, + "chamfer": 4.50169864052441e-06, + "track": 1.006227307698282e-06, + "acceleration": 3.0630363312411646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.033796125848312e-06, + "observation_loss": 5.7650127018860076e-06, + "chamfer": 4.687229193223175e-06, + "track": 1.0777836223496706e-06, + "acceleration": 2.6878359449256095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.05733112024609e-06, + "observation_loss": 5.964743650110904e-06, + "chamfer": 4.823479685001075e-06, + "track": 1.1412641924835043e-06, + "acceleration": 9.258752697860473e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.208870672708144e-06, + "observation_loss": 6.154806214908604e-06, + "chamfer": 4.9628679335000925e-06, + "track": 1.1919383950953488e-06, + "acceleration": 5.406441516697669e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.318674877547892e-06, + "observation_loss": 6.229260179679841e-06, + "chamfer": 5.015926944906823e-06, + "track": 1.213333462146693e-06, + "acceleration": 8.941470497347836e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.413200480892556e-06, + "observation_loss": 6.2943277043814305e-06, + "chamfer": 5.064331617177231e-06, + "track": 1.229996200891037e-06, + "acceleration": 1.1887291151424506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.631540145463077e-06, + "observation_loss": 6.440980087063508e-06, + "chamfer": 5.179891559237149e-06, + "track": 1.2610884141395218e-06, + "acceleration": 1.9055997313444095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.088222901074914e-06, + "observation_loss": 6.914225195941981e-06, + "chamfer": 5.535988293559058e-06, + "track": 1.3782366750092478e-06, + "acceleration": 1.7399771934378805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.686466233280953e-06, + "observation_loss": 7.536037628597114e-06, + "chamfer": 5.973835868644528e-06, + "track": 1.5622018736394239e-06, + "acceleration": 1.5042891732264252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.198911928047892e-06, + "observation_loss": 7.91948514233809e-06, + "chamfer": 6.250791102502262e-06, + "track": 1.6686941535226651e-06, + "acceleration": 2.794265583361266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.054577847360633e-06, + "observation_loss": 7.76876913732849e-06, + "chamfer": 6.151855359348701e-06, + "track": 1.6169140053534647e-06, + "acceleration": 2.8580831212821067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.79825040808646e-06, + "observation_loss": 7.529724825872108e-06, + "chamfer": 5.988883458485361e-06, + "track": 1.5408415947604226e-06, + "acceleration": 2.685255537926423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.414534138661111e-06, + "observation_loss": 7.3202922976634e-06, + "chamfer": 5.831654561916366e-06, + "track": 1.488637622060196e-06, + "acceleration": 9.424198310625798e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.182432909758063e-06, + "observation_loss": 7.134678980946774e-06, + "chamfer": 5.692340891982894e-06, + "track": 1.4423380889638793e-06, + "acceleration": 4.775374407017807e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.175066457421053e-06, + "observation_loss": 7.114590971468715e-06, + "chamfer": 5.673184205079451e-06, + "track": 1.441406652702426e-06, + "acceleration": 6.047558542832121e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2326456574955955e-06, + "observation_loss": 7.150635155994678e-06, + "chamfer": 5.690329089702573e-06, + "track": 1.460306179978943e-06, + "acceleration": 8.201063650403739e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.261237442435231e-06, + "observation_loss": 7.215932782855816e-06, + "chamfer": 5.735387276217807e-06, + "track": 1.4805453929511714e-06, + "acceleration": 4.530484432052617e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.493648809031583e-06, + "observation_loss": 7.2886723501142114e-06, + "chamfer": 5.7753509281610604e-06, + "track": 1.5133215356399887e-06, + "acceleration": 2.0497635944138892e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.871301932027563e-06, + "observation_loss": 7.3603314376669005e-06, + "chamfer": 5.830734153278172e-06, + "track": 1.5295971707018907e-06, + "acceleration": 5.10970494360663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.543618605472147e-06, + "observation_loss": 7.497755177610088e-06, + "chamfer": 5.920489002164686e-06, + "track": 1.5772660617585643e-06, + "acceleration": 1.0458630868015462e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.154472536465619e-06, + "observation_loss": 7.650553925486747e-06, + "chamfer": 6.040553216735134e-06, + "track": 1.6100007087516133e-06, + "acceleration": 1.5039186109788716e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.704260835656896e-06, + "observation_loss": 7.81254220783012e-06, + "chamfer": 6.16523857388529e-06, + "track": 1.6473034065711545e-06, + "acceleration": 8.917184004531009e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.548271580366418e-06, + "observation_loss": 8.170479304681066e-06, + "chamfer": 6.424984348996077e-06, + "track": 1.745494841998152e-06, + "acceleration": 3.777925030590268e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.959935257735197e-06, + "observation_loss": 8.671566320117563e-06, + "chamfer": 6.768892490072176e-06, + "track": 1.9026738300453871e-06, + "acceleration": 2.8836890919592406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.375307854497805e-06, + "observation_loss": 9.255303666577674e-06, + "chamfer": 7.166020168369869e-06, + "track": 2.0892832708341302e-06, + "acceleration": 1.2000434423953266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.672714440966956e-06, + "observation_loss": 9.579894140188117e-06, + "chamfer": 7.387342520814855e-06, + "track": 2.192551619373262e-06, + "acceleration": 9.282015867029259e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0087741429742891e-05, + "observation_loss": 9.802004569792189e-06, + "chamfer": 7.541603281424614e-06, + "track": 2.2604015157412505e-06, + "acceleration": 2.8573705890266865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0191116416535806e-05, + "observation_loss": 1.0015418411057908e-05, + "chamfer": 7.664143595320638e-06, + "track": 2.35127481573727e-06, + "acceleration": 1.7569757915225637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0243475117022172e-05, + "observation_loss": 1.0125011613126844e-05, + "chamfer": 7.726701369392686e-06, + "track": 2.398310471107834e-06, + "acceleration": 1.1846385206126797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0356106940889731e-05, + "observation_loss": 1.0020412446465343e-05, + "chamfer": 7.65702407079516e-06, + "track": 2.363388148296508e-06, + "acceleration": 3.3569472179806326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0577397006272804e-05, + "observation_loss": 9.747029253048822e-06, + "chamfer": 7.4881090768030845e-06, + "track": 2.2589204036194133e-06, + "acceleration": 8.303681511279137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.012636857922189e-05, + "observation_loss": 9.640409189159982e-06, + "chamfer": 7.411000751744723e-06, + "track": 2.229408437415259e-06, + "acceleration": 4.859598448092584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.751069228514098e-06, + "observation_loss": 9.546723049425054e-06, + "chamfer": 7.344551249843789e-06, + "track": 2.2021715722075896e-06, + "acceleration": 2.0434613645647914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.578739081916865e-06, + "observation_loss": 9.340952601633035e-06, + "chamfer": 7.194878890004475e-06, + "track": 2.146073256881209e-06, + "acceleration": 2.3778676450092462e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.819264960242435e-06, + "observation_loss": 9.202894943882711e-06, + "chamfer": 7.094496595527744e-06, + "track": 2.1083983483549673e-06, + "acceleration": 6.163703574202373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3428230886347592e-05, + "observation_loss": 9.281312486564275e-06, + "chamfer": 7.118396752048284e-06, + "track": 2.162915734515991e-06, + "acceleration": 4.146918854530668e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2037275155307725e-05, + "observation_loss": 9.505390153208282e-06, + "chamfer": 7.267135970323579e-06, + "track": 2.238254410258378e-06, + "acceleration": 2.5318845473520923e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.06631669041235e-05, + "observation_loss": 9.491212040302344e-06, + "chamfer": 7.266957254614681e-06, + "track": 2.2242543309403118e-06, + "acceleration": 1.1719546364474809e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0454727089381777e-05, + "observation_loss": 9.544780368742067e-06, + "chamfer": 7.284956154762767e-06, + "track": 2.2598244413529756e-06, + "acceleration": 9.099471185436414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.013238670566352e-05, + "observation_loss": 9.620366654417012e-06, + "chamfer": 7.332411769311875e-06, + "track": 2.2879551124788122e-06, + "acceleration": 5.12020449150441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.02224566944642e-05, + "observation_loss": 9.756053259479813e-06, + "chamfer": 7.40730047255056e-06, + "track": 2.348752559555578e-06, + "acceleration": 4.6640323603241995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.025568872137228e-05, + "observation_loss": 9.897699783323333e-06, + "chamfer": 7.472746347048087e-06, + "track": 2.4249529815278947e-06, + "acceleration": 3.5798925068775134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0217077942797914e-05, + "observation_loss": 1.0113053576787934e-05, + "chamfer": 7.613421985297464e-06, + "track": 2.4996313641167944e-06, + "acceleration": 1.0402425942857008e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0501758879399858e-05, + "observation_loss": 1.041662926581921e-05, + "chamfer": 7.82444840297103e-06, + "track": 2.592180635474506e-06, + "acceleration": 8.512964910778464e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0740902325778734e-05, + "observation_loss": 1.0630968972691335e-05, + "chamfer": 7.968444151629228e-06, + "track": 2.6625248210621066e-06, + "acceleration": 1.0993331756026237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0820479474205058e-05, + "observation_loss": 1.0709730304370169e-05, + "chamfer": 8.007630640349817e-06, + "track": 2.7020998913940275e-06, + "acceleration": 1.1074909167518854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0923400623141788e-05, + "observation_loss": 1.0780035154311918e-05, + "chamfer": 8.0511235864833e-06, + "track": 2.7289117952022934e-06, + "acceleration": 1.4336575304696453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1021529644494876e-05, + "observation_loss": 1.0868900972127449e-05, + "chamfer": 8.100179002212826e-06, + "track": 2.768722197288298e-06, + "acceleration": 1.5262835972862376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0960031431750394e-05, + "observation_loss": 1.0879631190618966e-05, + "chamfer": 8.096229066723026e-06, + "track": 2.783402351269615e-06, + "acceleration": 8.039999244147111e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1114406333945226e-05, + "observation_loss": 1.0867554010474123e-05, + "chamfer": 8.086779416771606e-06, + "track": 2.7807741389551666e-06, + "acceleration": 2.468526361099066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1074465874116868e-05, + "observation_loss": 1.0943848792521749e-05, + "chamfer": 8.131320100801531e-06, + "track": 2.812528464346542e-06, + "acceleration": 1.3061732317964925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.111498295358615e-05, + "observation_loss": 1.1018124496331438e-05, + "chamfer": 8.164600330928806e-06, + "track": 2.853524620149983e-06, + "acceleration": 9.685875568266056e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1164456736878492e-05, + "observation_loss": 1.1077132512582466e-05, + "chamfer": 8.201068339985795e-06, + "track": 2.8760641725966707e-06, + "acceleration": 8.732390455179484e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1231369171582628e-05, + "observation_loss": 1.1153155355714262e-05, + "chamfer": 8.241477189585567e-06, + "track": 2.911678166128695e-06, + "acceleration": 7.821353875669956e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1215175618417561e-05, + "observation_loss": 1.111030996980844e-05, + "chamfer": 8.21914818516234e-06, + "track": 2.8911620120197767e-06, + "acceleration": 1.0486564150369304e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1050527064071503e-05, + "observation_loss": 1.0958034181385301e-05, + "chamfer": 8.123118277580943e-06, + "track": 2.8349156764306827e-06, + "acceleration": 9.249324506299672e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.242451852898588e-06, + "chamfer_mean": 5.610105870819855e-06, + "track_mean": 1.5233648188820819e-06, + "acceleration_mean": 1.1089812118244187e-06, + "observation_score": 7.133470691182235e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4303223749993776 + }, + "score_arrays_file": "pass_scores/pass_end_0329.npz", + "score_arrays_sha256": "8df2e757d050986a9bb695348409bf0d48801176ad9a298959222148842e5d0e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0330.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0330.json new file mode 100644 index 0000000000000000000000000000000000000000..ebbc4213b8aa0204630d94ba66afb1c0d6a13069 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0330.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31680, + "completed_passes": 330, + "snapshot": "pass_end_0330", + "candidate": true, + "snapshot_arrays_sha256": "f235f898faf8e2b210b86341cbc51d0324b8aeea59bd159208a182399d321ba7", + "score": 7.131823871020515e-06, + "score_result": { + "score": 7.131823871020515e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872585127988714e-06, + 3.1543975183012662e-06, + 3.2448817819386022e-06, + 3.680074769363273e-06, + 4.200753664918011e-06, + 4.422798156156205e-06, + 4.175942194706295e-06, + 4.018510935566155e-06, + 3.957850822189357e-06, + 4.0552904465585016e-06, + 4.431842171470635e-06, + 4.888766397925792e-06, + 5.195550329517573e-06, + 5.400085228757234e-06, + 5.395823336584726e-06, + 5.286218311084667e-06, + 4.928692760586273e-06, + 4.542692749964772e-06, + 4.3645254663715605e-06, + 4.358029400464147e-06, + 4.315834758017445e-06, + 4.184576482657576e-06, + 4.09891435992904e-06, + 4.105379048269242e-06, + 4.148759217059705e-06, + 4.355419150670059e-06, + 4.7516755330434535e-06, + 4.977584922016831e-06, + 4.945008640788728e-06, + 4.903586614091182e-06, + 5.068799509899691e-06, + 5.322317974787438e-06, + 5.622247954306658e-06, + 5.86392889090348e-06, + 5.927001893724082e-06, + 5.997852440486895e-06, + 6.228317943168804e-06, + 6.363331976899644e-06, + 6.072429641790222e-06, + 5.6185663197538815e-06, + 5.502964086190332e-06, + 5.759142368333414e-06, + 5.959669579169713e-06, + 6.149260116217192e-06, + 6.224554454092868e-06, + 6.291369572863914e-06, + 6.4379664763691835e-06, + 6.911340278747957e-06, + 7.533698408224154e-06, + 7.916778486105613e-06, + 7.765771442791447e-06, + 7.529488811996998e-06, + 7.320780241570901e-06, + 7.135319719964173e-06, + 7.1153012868308e-06, + 7.151239060476655e-06, + 7.216547601274215e-06, + 7.28954864825937e-06, + 7.3621818046376575e-06, + 7.5003572419518605e-06, + 7.654193723283242e-06, + 7.817860023351386e-06, + 8.177286872523837e-06, + 8.680112841830123e-06, + 9.265182598028332e-06, + 9.590599802322686e-06, + 9.814403711061459e-06, + 1.0029337317973841e-05, + 1.0140246558876242e-05, + 1.0035504601546563e-05, + 9.761316505318973e-06, + 9.653059350966942e-06, + 9.55620089371223e-06, + 9.347394552605692e-06, + 9.203035006066784e-06, + 9.279462574340869e-06, + 9.502220564172603e-06, + 9.490410775470082e-06, + 9.541445251670666e-06, + 9.612822395865805e-06, + 9.748569937073626e-06, + 9.888729437079746e-06, + 1.010199684969848e-05, + 1.0404330168967135e-05, + 1.0617804036883172e-05, + 1.0696599929360673e-05, + 1.0767038475023583e-05, + 1.0855135769816115e-05, + 1.086640804714989e-05, + 1.085397343558725e-05, + 1.0930310963885859e-05, + 1.1004543011949863e-05, + 1.106387389882002e-05, + 1.1140245078422595e-05, + 1.1097672540927306e-05, + 1.094563958758954e-05 + ] + ], + "episode_mean_losses": [ + 7.131823871020515e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872585127988714e-06, + "observation_loss": 2.872585127988714e-06, + "chamfer": 2.4365479021071224e-06, + "track": 4.360372827250103e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1509101720293984e-05, + "observation_loss": 3.1543975183012662e-06, + "chamfer": 2.6677291771193268e-06, + "track": 4.866682843385206e-07, + "acceleration": 3.8354704884113744e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.307889735675417e-05, + "observation_loss": 3.2448817819386022e-06, + "chamfer": 2.747826556515065e-06, + "track": 4.970551685801183e-07, + "acceleration": 1.983401489269454e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0079764251713641e-05, + "observation_loss": 3.680074769363273e-06, + "chamfer": 3.103861217823578e-06, + "track": 5.762134378528572e-07, + "acceleration": 6.399689027603017e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.7591369113652036e-06, + "observation_loss": 4.200753664918011e-06, + "chamfer": 3.5236571420682594e-06, + "track": 6.770966933800082e-07, + "acceleration": 1.5583833601340302e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.512390089279506e-06, + "observation_loss": 4.422798156156205e-06, + "chamfer": 3.7005827380198753e-06, + "track": 7.222151907626539e-07, + "acceleration": 1.0895917057496263e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.8119072744157165e-06, + "observation_loss": 4.175942194706295e-06, + "chamfer": 3.499106696835952e-06, + "track": 6.768356684005994e-07, + "acceleration": 6.359649660225841e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.591785909724422e-06, + "observation_loss": 4.018510935566155e-06, + "chamfer": 3.372820401637e-06, + "track": 6.456905339291552e-07, + "acceleration": 5.732749741582666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.434009042597609e-06, + "observation_loss": 3.957850822189357e-06, + "chamfer": 3.326833848404931e-06, + "track": 6.310169737844262e-07, + "acceleration": 4.7615824882996094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.361025276011787e-06, + "observation_loss": 4.0552904465585016e-06, + "chamfer": 3.4069955745508196e-06, + "track": 6.482949856945197e-07, + "acceleration": 3.057350284052518e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.570440978568513e-06, + "observation_loss": 4.431842171470635e-06, + "chamfer": 3.713817704920075e-06, + "track": 7.180244097071409e-07, + "acceleration": 1.385988070978783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.9808154471975286e-06, + "observation_loss": 4.888766397925792e-06, + "chamfer": 4.0808849917084444e-06, + "track": 8.078814630607667e-07, + "acceleration": 9.204906348259101e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.290455192152876e-06, + "observation_loss": 5.195550329517573e-06, + "chamfer": 4.333163360570325e-06, + "track": 8.623867415735731e-07, + "acceleration": 9.490483421359386e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.505450189957628e-06, + "observation_loss": 5.400085228757234e-06, + "chamfer": 4.507452558755176e-06, + "track": 8.92632726845477e-07, + "acceleration": 1.0536481909184658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.4559545787924435e-06, + "observation_loss": 5.395823336584726e-06, + "chamfer": 4.507832727540517e-06, + "track": 8.879905522007903e-07, + "acceleration": 6.013124931314451e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.408720426203217e-06, + "observation_loss": 5.286218311084667e-06, + "chamfer": 4.418249773152638e-06, + "track": 8.679684810886101e-07, + "acceleration": 1.2250201564256713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.131369562150212e-06, + "observation_loss": 4.928692760586273e-06, + "chamfer": 4.124950464756694e-06, + "track": 8.03742409516417e-07, + "acceleration": 2.0267658840111835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.856060058955336e-06, + "observation_loss": 4.542692749964772e-06, + "chamfer": 3.8061868963268353e-06, + "track": 7.365058536379365e-07, + "acceleration": 3.133672237254359e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.530263140622992e-06, + "observation_loss": 4.3645254663715605e-06, + "chamfer": 3.655615955722169e-06, + "track": 7.089096243362292e-07, + "acceleration": 1.6573784478168818e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.536095275398111e-06, + "observation_loss": 4.358029400464147e-06, + "chamfer": 3.6461433410295285e-06, + "track": 7.118861162780377e-07, + "acceleration": 1.7806588914481836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.607657956512412e-06, + "observation_loss": 4.315834758017445e-06, + "chamfer": 3.6099966109759407e-06, + "track": 7.058383175717609e-07, + "acceleration": 2.918233121818048e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.478788014239399e-06, + "observation_loss": 4.184576482657576e-06, + "chamfer": 3.5025286706513725e-06, + "track": 6.820476414759469e-07, + "acceleration": 2.9421141789498506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.703987542598043e-06, + "observation_loss": 4.09891435992904e-06, + "chamfer": 3.4369988952676067e-06, + "track": 6.619153509745956e-07, + "acceleration": 6.050733531992591e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.051974767411593e-06, + "observation_loss": 4.105379048269242e-06, + "chamfer": 3.4383710953989066e-06, + "track": 6.670080665571732e-07, + "acceleration": 9.465957759857702e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.845564944844227e-06, + "observation_loss": 4.148759217059705e-06, + "chamfer": 3.457174898358062e-06, + "track": 6.915843755450624e-07, + "acceleration": 6.968057846279407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.689482011599466e-06, + "observation_loss": 4.355419150670059e-06, + "chamfer": 3.6100980196351884e-06, + "track": 7.45320960504614e-07, + "acceleration": 3.340626903991506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.009819687984418e-06, + "observation_loss": 4.7516755330434535e-06, + "chamfer": 3.910911800630856e-06, + "track": 8.407637324125972e-07, + "acceleration": 2.581441265192552e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.19386094310903e-06, + "observation_loss": 4.977584922016831e-06, + "chamfer": 4.0830395846569445e-06, + "track": 8.945453373598866e-07, + "acceleration": 2.1627587898365164e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.347581918613287e-06, + "observation_loss": 4.945008640788728e-06, + "chamfer": 4.060713308717823e-06, + "track": 8.842951615406491e-07, + "acceleration": 4.025732494028489e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.247983608569484e-06, + "observation_loss": 4.903586614091182e-06, + "chamfer": 4.038093720737379e-06, + "track": 8.654930638840597e-07, + "acceleration": 3.443970229000115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.288674856274156e-06, + "observation_loss": 5.068799509899691e-06, + "chamfer": 4.17843784816796e-06, + "track": 8.903614343580557e-07, + "acceleration": 2.1987526110933686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.659699127136264e-06, + "observation_loss": 5.322317974787438e-06, + "chamfer": 4.381164671940496e-06, + "track": 9.411531323166855e-07, + "acceleration": 3.373811523488257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.975467502139509e-06, + "observation_loss": 5.622247954306658e-06, + "chamfer": 4.620944309863262e-06, + "track": 1.001303417069721e-06, + "acceleration": 3.532196899413975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.704904535581591e-06, + "observation_loss": 5.86392889090348e-06, + "chamfer": 4.805569005839061e-06, + "track": 1.0583601124380948e-06, + "acceleration": 8.409757015215291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.990355359448586e-06, + "observation_loss": 5.927001893724082e-06, + "chamfer": 4.853900463785976e-06, + "track": 1.0731015436249436e-06, + "acceleration": 1.0633534657245036e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.566225576738361e-06, + "observation_loss": 5.997852440486895e-06, + "chamfer": 4.890673153568059e-06, + "track": 1.107179173231998e-06, + "acceleration": 1.5683733636251418e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.729449862381443e-06, + "observation_loss": 6.228317943168804e-06, + "chamfer": 5.045245870860526e-06, + "track": 1.1830721859951154e-06, + "acceleration": 1.5011323739599902e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.735150575172156e-06, + "observation_loss": 6.363331976899644e-06, + "chamfer": 5.150423476152355e-06, + "track": 1.2129083870604518e-06, + "acceleration": 1.371818484585674e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.285919309651945e-06, + "observation_loss": 6.072429641790222e-06, + "chamfer": 4.94142386742169e-06, + "track": 1.1310058880553697e-06, + "acceleration": 1.213489440488047e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.952932042418979e-06, + "observation_loss": 5.6185663197538815e-06, + "chamfer": 4.590249773173127e-06, + "track": 1.0283164328939165e-06, + "acceleration": 3.34365751086807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.817347300762776e-06, + "observation_loss": 5.502964086190332e-06, + "chamfer": 4.497960617300123e-06, + "track": 1.005003355203371e-06, + "acceleration": 3.143833282592823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.032089004293084e-06, + "observation_loss": 5.759142368333414e-06, + "chamfer": 4.682760845753364e-06, + "track": 1.0763816362668877e-06, + "acceleration": 2.7294643700770393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.054532150301384e-06, + "observation_loss": 5.959669579169713e-06, + "chamfer": 4.819458808924537e-06, + "track": 1.1402105428715004e-06, + "acceleration": 9.486254981538877e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.209274488355732e-06, + "observation_loss": 6.149260116217192e-06, + "chamfer": 4.9585141823627055e-06, + "track": 1.1907461612281622e-06, + "acceleration": 6.00143934548214e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.3234224398911465e-06, + "observation_loss": 6.224554454092868e-06, + "chamfer": 5.012340352550382e-06, + "track": 1.2122143289161613e-06, + "acceleration": 9.88678721114411e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.4156852204177994e-06, + "observation_loss": 6.291369572863914e-06, + "chamfer": 5.061966476205271e-06, + "track": 1.2294029829718056e-06, + "acceleration": 1.2431573281901365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.633217253693147e-06, + "observation_loss": 6.4379664763691835e-06, + "chamfer": 5.177605999051593e-06, + "track": 1.2603602499439148e-06, + "acceleration": 1.9525077732396312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.09043160895817e-06, + "observation_loss": 6.911340278747957e-06, + "chamfer": 5.533862349693663e-06, + "track": 1.3774777016806183e-06, + "acceleration": 1.7909114546910132e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.686184289923403e-06, + "observation_loss": 7.533698408224154e-06, + "chamfer": 5.972224698780337e-06, + "track": 1.5614738231306546e-06, + "acceleration": 1.5248609486206988e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.191670531232376e-06, + "observation_loss": 7.916778486105613e-06, + "chamfer": 6.24897893430898e-06, + "track": 1.6678000065439846e-06, + "acceleration": 2.748920167050528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.051978511502966e-06, + "observation_loss": 7.765771442791447e-06, + "chamfer": 6.149829005153151e-06, + "track": 1.6159424376382958e-06, + "acceleration": 2.8620706871151924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.799473678460345e-06, + "observation_loss": 7.529488811996998e-06, + "chamfer": 5.988885277474765e-06, + "track": 1.5406036482090713e-06, + "acceleration": 2.69985036993603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.41729854780715e-06, + "observation_loss": 7.320780241570901e-06, + "chamfer": 5.832127499161288e-06, + "track": 1.4886528560964507e-06, + "acceleration": 9.651853360992391e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.182730769272894e-06, + "observation_loss": 7.135319719964173e-06, + "chamfer": 5.692909780918853e-06, + "track": 1.442410052732157e-06, + "acceleration": 4.741091785831486e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.175219252530951e-06, + "observation_loss": 7.1153012868308e-06, + "chamfer": 5.673726263921708e-06, + "track": 1.4415750229090918e-06, + "acceleration": 5.991807228156176e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2336483754043e-06, + "observation_loss": 7.151239060476655e-06, + "chamfer": 5.690824764315039e-06, + "track": 1.4604141824747785e-06, + "acceleration": 8.240937887649125e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.262784492922947e-06, + "observation_loss": 7.216547601274215e-06, + "chamfer": 5.735838840337237e-06, + "track": 1.4807089883106528e-06, + "acceleration": 4.62370302045656e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.494994861190207e-06, + "observation_loss": 7.28954864825937e-06, + "chamfer": 5.776028956461232e-06, + "track": 1.5135195781112998e-06, + "acceleration": 2.054462697742565e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.874322363932151e-06, + "observation_loss": 7.3621818046376575e-06, + "chamfer": 5.8321502365288325e-06, + "track": 1.5300314544219873e-06, + "acceleration": 5.12140502451075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.549368430976756e-06, + "observation_loss": 7.5003572419518605e-06, + "chamfer": 5.922492164245341e-06, + "track": 1.5778651913933572e-06, + "acceleration": 1.0490110753380577e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.163750291918404e-06, + "observation_loss": 7.654193723283242e-06, + "chamfer": 6.043321718607331e-06, + "track": 1.6108716636153986e-06, + "acceleration": 1.5095562275746488e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.713177521713078e-06, + "observation_loss": 7.817860023351386e-06, + "chamfer": 6.169306288938969e-06, + "track": 1.64855407547293e-06, + "acceleration": 8.953171004577598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.55607049743412e-06, + "observation_loss": 8.177286872523837e-06, + "chamfer": 6.43002886135946e-06, + "track": 1.7472576701038633e-06, + "acceleration": 3.7878325542806124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.969434929895215e-06, + "observation_loss": 8.680112841830123e-06, + "chamfer": 6.7750784182862844e-06, + "track": 1.905034309857001e-06, + "acceleration": 2.8932223017363867e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.385883458890021e-06, + "observation_loss": 9.265182598028332e-06, + "chamfer": 7.173037829488749e-06, + "track": 2.0921443137922324e-06, + "acceleration": 1.2070114507878316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.683928510639817e-06, + "observation_loss": 9.590599802322686e-06, + "chamfer": 7.3948290264524985e-06, + "track": 2.1957710032438627e-06, + "acceleration": 9.332861594657516e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0101312000188045e-05, + "observation_loss": 9.814403711061459e-06, + "chamfer": 7.550471309514251e-06, + "track": 2.263932174173533e-06, + "acceleration": 2.869082322831673e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0205660146311857e-05, + "observation_loss": 1.0029337317973841e-05, + "chamfer": 7.674140761082526e-06, + "track": 2.35519678426499e-06, + "acceleration": 1.7632254412092152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0259126611344982e-05, + "observation_loss": 1.0140246558876242e-05, + "chamfer": 7.737744454061612e-06, + "track": 2.4025023321883054e-06, + "acceleration": 1.1887988904391023e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.037206584442174e-05, + "observation_loss": 1.0035504601546563e-05, + "chamfer": 7.66786342865089e-06, + "track": 2.3676416276430245e-06, + "acceleration": 3.365614986705623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0594032573862933e-05, + "observation_loss": 9.761316505318973e-06, + "chamfer": 7.49830996937817e-06, + "track": 2.263006763314479e-06, + "acceleration": 8.327162959176349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0138778634427581e-05, + "observation_loss": 9.653059350966942e-06, + "chamfer": 7.42015618016012e-06, + "track": 2.2329031708068214e-06, + "acceleration": 4.857195676777337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.758086889632978e-06, + "observation_loss": 9.55620089371223e-06, + "chamfer": 7.351291969825979e-06, + "track": 2.204909151259926e-06, + "acceleration": 2.0188568328194378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.582044185663108e-06, + "observation_loss": 9.347394552605692e-06, + "chamfer": 7.1993804340309e-06, + "track": 2.148013891201117e-06, + "acceleration": 2.3464959042485134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.82979872787837e-06, + "observation_loss": 9.203035006066784e-06, + "chamfer": 7.0949590735835955e-06, + "track": 2.108075477735838e-06, + "acceleration": 6.267638923418417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3483731891028583e-05, + "observation_loss": 9.279462574340869e-06, + "chamfer": 7.117066616046941e-06, + "track": 2.162395958293928e-06, + "acceleration": 4.204269316687714e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2013520063192118e-05, + "observation_loss": 9.502220564172603e-06, + "chamfer": 7.264905889314832e-06, + "track": 2.237315129605122e-06, + "acceleration": 2.5112994990195148e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0699858648877125e-05, + "observation_loss": 9.490410775470082e-06, + "chamfer": 7.266651664394885e-06, + "track": 2.223758883701521e-06, + "acceleration": 1.2094477597202058e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0489035048522055e-05, + "observation_loss": 9.541445251670666e-06, + "chamfer": 7.282394562935224e-06, + "track": 2.2590502339880913e-06, + "acceleration": 9.475893421040382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0164154446101747e-05, + "observation_loss": 9.612822395865805e-06, + "chamfer": 7.327104412979679e-06, + "track": 2.285717755512451e-06, + "acceleration": 5.513318228622666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0251660569338128e-05, + "observation_loss": 9.748569937073626e-06, + "chamfer": 7.402485152852023e-06, + "track": 2.3460852389689535e-06, + "acceleration": 5.030909733250155e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0264874617860187e-05, + "observation_loss": 9.888729437079746e-06, + "chamfer": 7.466878287232248e-06, + "track": 2.4218509224738227e-06, + "acceleration": 3.7614486814163683e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0208542335021775e-05, + "observation_loss": 1.010199684969848e-05, + "chamfer": 7.606116014358122e-06, + "track": 2.4958808353403583e-06, + "acceleration": 1.0654514426278183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.048860667651752e-05, + "observation_loss": 1.0404330168967135e-05, + "chamfer": 7.816331162757706e-06, + "track": 2.5879990062094294e-06, + "acceleration": 8.427652886666692e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0728024790296331e-05, + "observation_loss": 1.0617804036883172e-05, + "chamfer": 7.959671165735926e-06, + "track": 2.658132871147245e-06, + "acceleration": 1.1022078894029619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0808036677190103e-05, + "observation_loss": 1.0696599929360673e-05, + "chamfer": 7.999034096428659e-06, + "track": 2.697565378184663e-06, + "acceleration": 1.1143698941395996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0911523531831335e-05, + "observation_loss": 1.0767038475023583e-05, + "chamfer": 8.042635272431653e-06, + "track": 2.7244032025919296e-06, + "acceleration": 1.4448499996433384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.1008283763658255e-05, + "observation_loss": 1.0855135769816115e-05, + "chamfer": 8.091158633760642e-06, + "track": 2.7639766813081224e-06, + "acceleration": 1.5314829227008886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.09469019662356e-05, + "observation_loss": 1.086640804714989e-05, + "chamfer": 8.087657988653518e-06, + "track": 2.778750513243722e-06, + "acceleration": 8.049346433836035e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.110111679736292e-05, + "observation_loss": 1.085397343558725e-05, + "chamfer": 8.077955499175005e-06, + "track": 2.776017481664894e-06, + "acceleration": 2.4714367441447394e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1061260920541827e-05, + "observation_loss": 1.0930310963885859e-05, + "chamfer": 8.122679901134688e-06, + "track": 2.8076310627511702e-06, + "acceleration": 1.3095011297536985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1101495147158857e-05, + "observation_loss": 1.1004543011949863e-05, + "chamfer": 8.155929208442103e-06, + "track": 2.84861380350776e-06, + "acceleration": 9.695221336869508e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.11507124529453e-05, + "observation_loss": 1.106387389882002e-05, + "chamfer": 8.192618224711623e-06, + "track": 2.8712552193610463e-06, + "acceleration": 8.683894492378386e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1218148756597657e-05, + "observation_loss": 1.1140245078422595e-05, + "chamfer": 8.233318112615962e-06, + "track": 2.9069271931803087e-06, + "acceleration": 7.79040547627119e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1202255336684175e-05, + "observation_loss": 1.1097672540927306e-05, + "chamfer": 8.211151907744352e-06, + "track": 2.8865208605566295e-06, + "acceleration": 1.0458264654289451e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.103779868572019e-05, + "observation_loss": 1.094563958758954e-05, + "chamfer": 8.11516019894043e-06, + "track": 2.8304798433964606e-06, + "acceleration": 9.215868601586408e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.244688286159393e-06, + "chamfer_mean": 5.60901591484253e-06, + "track_mean": 1.5228079478883199e-06, + "acceleration_mean": 1.1128644046287661e-06, + "observation_score": 7.131823871020515e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4292006010000478 + }, + "score_arrays_file": "pass_scores/pass_end_0330.npz", + "score_arrays_sha256": "2950fcbf7794f1ee157ff8fd1f752249737ea09167205a7b9387f391f05e289c" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0331.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0331.json new file mode 100644 index 0000000000000000000000000000000000000000..c2f91c15b5c83cd200beacd07eb2f4f52f577cea --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0331.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31776, + "completed_passes": 331, + "snapshot": "pass_end_0331", + "candidate": true, + "snapshot_arrays_sha256": "ab3974bb257a916b6299df3cbaaa2bc3295f1ccecdfcb3cae19e339d5c773c21", + "score": 7.128778167479292e-06, + "score_result": { + "score": 7.128778167479292e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.87265766019118e-06, + 3.154229034407763e-06, + 3.2437067147839116e-06, + 3.6789751902688295e-06, + 4.19997832068475e-06, + 4.422631263878429e-06, + 4.175778030912625e-06, + 4.01752822654089e-06, + 3.956331966037396e-06, + 4.05283253712696e-06, + 4.429173259268282e-06, + 4.885558610112639e-06, + 5.192023763811449e-06, + 5.396057076723082e-06, + 5.3916692195343785e-06, + 5.281856829242315e-06, + 4.9245250011153985e-06, + 4.53846496384358e-06, + 4.360730599728413e-06, + 4.355169949121773e-06, + 4.312866622058209e-06, + 4.179782536084531e-06, + 4.09215317631606e-06, + 4.099048055650201e-06, + 4.144684226048412e-06, + 4.3534864744287916e-06, + 4.749514573632041e-06, + 4.973763680027332e-06, + 4.939574864692986e-06, + 4.899296072835568e-06, + 5.06856849824544e-06, + 5.3249123084242456e-06, + 5.627829523291439e-06, + 5.871119810763048e-06, + 5.933265583735192e-06, + 5.999503173370613e-06, + 6.226078312465688e-06, + 6.364170076267328e-06, + 6.074908924347255e-06, + 5.619599505735096e-06, + 5.4980787353997584e-06, + 5.754612629971234e-06, + 5.956484528724104e-06, + 6.146178748167586e-06, + 6.221399416972417e-06, + 6.28975658401032e-06, + 6.436192961700726e-06, + 6.909996045578737e-06, + 7.533773896284401e-06, + 7.917076800367795e-06, + 7.764914698782377e-06, + 7.5295038186595775e-06, + 7.3206142587878276e-06, + 7.13368172000628e-06, + 7.11285429133568e-06, + 7.148733857320622e-06, + 7.214093784568831e-06, + 7.287969310709741e-06, + 7.3616570261947345e-06, + 7.5011344051745255e-06, + 7.655521585547831e-06, + 7.820774953870568e-06, + 8.18150510895066e-06, + 8.6855898189242e-06, + 9.27201472222805e-06, + 9.597987627785187e-06, + 9.82253550319001e-06, + 1.0038251275545917e-05, + 1.0149707122764084e-05, + 1.0044003829534631e-05, + 9.767997653398197e-06, + 9.657664122642018e-06, + 9.557445082464255e-06, + 9.345940270577557e-06, + 9.195988241117448e-06, + 9.271048838854767e-06, + 9.492962817603257e-06, + 9.483748726779595e-06, + 9.532534932077397e-06, + 9.601663805369753e-06, + 9.738421795191243e-06, + 9.877589945972431e-06, + 1.0089442184835207e-05, + 1.0390751413069665e-05, + 1.0604300769045949e-05, + 1.068339406629093e-05, + 1.07533505797619e-05, + 1.0841408766282257e-05, + 1.0852649211301468e-05, + 1.0839704373211134e-05, + 1.09156608232297e-05, + 1.0989719157805666e-05, + 1.1048850865336135e-05, + 1.112537574954331e-05, + 1.108312608266715e-05, + 1.0931360520771705e-05 + ] + ], + "episode_mean_losses": [ + 7.128778167479292e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.87265766019118e-06, + "observation_loss": 2.87265766019118e-06, + "chamfer": 2.4365963326999918e-06, + "track": 4.3606127064776956e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.151433313381858e-05, + "observation_loss": 3.154229034407763e-06, + "chamfer": 2.6675822937249904e-06, + "track": 4.866466269959346e-07, + "acceleration": 3.836010364466347e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.307155227754265e-05, + "observation_loss": 3.2437067147839116e-06, + "chamfer": 2.7468495318316855e-06, + "track": 4.968571261088073e-07, + "acceleration": 1.9827844880637713e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0075502359541133e-05, + "observation_loss": 3.6789751902688295e-06, + "chamfer": 3.102940354438033e-06, + "track": 5.760349495176342e-07, + "acceleration": 6.3965276240196545e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.7521519920555875e-06, + "observation_loss": 4.19997832068475e-06, + "chamfer": 3.52298798134143e-06, + "track": 6.769903961867385e-07, + "acceleration": 1.5521735576840001e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.510762093763333e-06, + "observation_loss": 4.422631263878429e-06, + "chamfer": 3.700387196658994e-06, + "track": 7.222438966891787e-07, + "acceleration": 1.0881308298849035e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.810074187844293e-06, + "observation_loss": 4.175778030912625e-06, + "chamfer": 3.4988966035598423e-06, + "track": 6.768814841962012e-07, + "acceleration": 6.342961569316685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.592026925820392e-06, + "observation_loss": 4.01752822654089e-06, + "chamfer": 3.371933416929096e-06, + "track": 6.455949232986313e-07, + "acceleration": 5.744989266531775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.432125479070237e-06, + "observation_loss": 3.956331966037396e-06, + "chamfer": 3.3255125799769303e-06, + "track": 6.308195565907226e-07, + "acceleration": 4.7579348461113113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.357714260549983e-06, + "observation_loss": 4.05283253712696e-06, + "chamfer": 3.4049230634991545e-06, + "track": 6.479093030975491e-07, + "acceleration": 3.048818371098605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.567769792629406e-06, + "observation_loss": 4.429173259268282e-06, + "chamfer": 3.7116146813787054e-06, + "track": 7.175586347329954e-07, + "acceleration": 1.3859644809599558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.97751261718804e-06, + "observation_loss": 4.885558610112639e-06, + "chamfer": 4.078260644746479e-06, + "track": 8.072977948359039e-07, + "acceleration": 9.19539431265548e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.287431122269481e-06, + "observation_loss": 5.192023763811449e-06, + "chamfer": 4.3302879930706695e-06, + "track": 8.617357707407791e-07, + "acceleration": 9.54072305603404e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.501472060132073e-06, + "observation_loss": 5.396057076723082e-06, + "chamfer": 4.5041588236927055e-06, + "track": 8.918980825001199e-07, + "acceleration": 1.0541504735783747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.451900506159291e-06, + "observation_loss": 5.3916692195343785e-06, + "chamfer": 4.504453045228729e-06, + "track": 8.87215946931974e-07, + "acceleration": 6.023133636290368e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.404486728366464e-06, + "observation_loss": 5.281856829242315e-06, + "chamfer": 4.4146918298793025e-06, + "track": 8.671647719893372e-07, + "acceleration": 1.2262998438927752e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.127066742716124e-06, + "observation_loss": 4.9245250011153985e-06, + "chamfer": 4.121538040635642e-06, + "track": 8.029867899495002e-07, + "acceleration": 2.0254188370927295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.852795427723322e-06, + "observation_loss": 4.53846496384358e-06, + "chamfer": 3.8027201298973523e-06, + "track": 7.357447771028092e-07, + "acceleration": 3.1433069125341717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.526807515503606e-06, + "observation_loss": 4.360730599728413e-06, + "chamfer": 3.652445684565464e-06, + "track": 7.082846877892734e-07, + "acceleration": 1.6607690156433819e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.530983460426796e-06, + "observation_loss": 4.355169949121773e-06, + "chamfer": 3.6437456856219796e-06, + "track": 7.114242066563747e-07, + "acceleration": 1.7581328393134754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6049685806792695e-06, + "observation_loss": 4.312866622058209e-06, + "chamfer": 3.607507778724539e-06, + "track": 7.053587864902511e-07, + "acceleration": 2.9210184493422275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.47603906650329e-06, + "observation_loss": 4.179782536084531e-06, + "chamfer": 3.498555770420353e-06, + "track": 6.812268793510157e-07, + "acceleration": 2.962564167319215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.691195954364957e-06, + "observation_loss": 4.09215317631606e-06, + "chamfer": 3.431375034779194e-06, + "track": 6.607781415368663e-07, + "acceleration": 5.990426643620594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.020664048061008e-06, + "observation_loss": 4.099048055650201e-06, + "chamfer": 3.4330698781559477e-06, + "track": 6.659780638074153e-07, + "acceleration": 9.216158787239692e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.830564648727886e-06, + "observation_loss": 4.144684226048412e-06, + "chamfer": 3.4537258670752635e-06, + "track": 6.909584158165671e-07, + "acceleration": 6.858805932097312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.679982339439448e-06, + "observation_loss": 4.3534864744287916e-06, + "chamfer": 3.6083604300074512e-06, + "track": 7.451262149515969e-07, + "acceleration": 3.2649597869749414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.997243195248302e-06, + "observation_loss": 4.749514573632041e-06, + "chamfer": 3.9091132748581e-06, + "track": 8.404012987739407e-07, + "acceleration": 2.4772850792942336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.184753717912827e-06, + "observation_loss": 4.973763680027332e-06, + "chamfer": 4.07996958529111e-06, + "track": 8.937942084230599e-07, + "acceleration": 2.1098983893352852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.346919351723045e-06, + "observation_loss": 4.939574864692986e-06, + "chamfer": 4.056295438203961e-06, + "track": 8.832793696456065e-07, + "acceleration": 4.073442880780931e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.252571554592578e-06, + "observation_loss": 4.899296072835568e-06, + "chamfer": 4.034552148368675e-06, + "track": 8.647439244668931e-07, + "acceleration": 3.5327542491359054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.286884061206365e-06, + "observation_loss": 5.06856849824544e-06, + "chamfer": 4.178153176326305e-06, + "track": 8.904153787625546e-07, + "acceleration": 2.1831574770203588e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.647826128551969e-06, + "observation_loss": 5.3249123084242456e-06, + "chamfer": 4.382975930639077e-06, + "track": 9.419363777851686e-07, + "acceleration": 3.229137632843049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.922408490732778e-06, + "observation_loss": 5.627829523291439e-06, + "chamfer": 4.625294877769193e-06, + "track": 1.0025346455222461e-06, + "acceleration": 2.945790242847579e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.611057415284449e-06, + "observation_loss": 5.871119810763048e-06, + "chamfer": 4.811273811355932e-06, + "track": 1.059846113093954e-06, + "acceleration": 7.399377750516578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.948141617613146e-06, + "observation_loss": 5.933265583735192e-06, + "chamfer": 4.859356522501912e-06, + "track": 1.073909174920118e-06, + "acceleration": 1.0148760338779539e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.643140634172596e-06, + "observation_loss": 5.999503173370613e-06, + "chamfer": 4.892871857009595e-06, + "track": 1.1066313163610175e-06, + "acceleration": 1.6436373471151455e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.801821993780322e-06, + "observation_loss": 6.226078312465688e-06, + "chamfer": 5.044204499426996e-06, + "track": 1.1818739267255296e-06, + "acceleration": 1.5757439086883096e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.812624971847981e-06, + "observation_loss": 6.364170076267328e-06, + "chamfer": 5.1512779464246705e-06, + "track": 1.212892357216333e-06, + "acceleration": 1.4484550092674908e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.410471880575642e-06, + "observation_loss": 6.074908924347255e-06, + "chamfer": 4.943423391523538e-06, + "track": 1.1314855328237172e-06, + "acceleration": 1.3355628425415489e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.97955659031868e-06, + "observation_loss": 5.619599505735096e-06, + "chamfer": 4.591156084643444e-06, + "track": 1.0284434210916515e-06, + "acceleration": 3.5995702774016536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.826960659760516e-06, + "observation_loss": 5.4980787353997584e-06, + "chamfer": 4.494339918892365e-06, + "track": 1.0037388165073935e-06, + "acceleration": 3.2888215173443314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.0331813074299134e-06, + "observation_loss": 5.754612629971234e-06, + "chamfer": 4.679330686485628e-06, + "track": 1.0752818297987687e-06, + "acceleration": 2.7856862061526044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.055211997590959e-06, + "observation_loss": 5.956484528724104e-06, + "chamfer": 4.8169140427489765e-06, + "track": 1.1395707133488031e-06, + "acceleration": 9.872751149941905e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2174094637157395e-06, + "observation_loss": 6.146178748167586e-06, + "chamfer": 4.95605945616262e-06, + "track": 1.1901195193786407e-06, + "acceleration": 7.123083634041905e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.339470019156579e-06, + "observation_loss": 6.221399416972417e-06, + "chamfer": 5.009838787373155e-06, + "track": 1.2115604022255866e-06, + "acceleration": 1.1807041033762289e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.423245395126287e-06, + "observation_loss": 6.28975658401032e-06, + "chamfer": 5.060604962636717e-06, + "track": 1.2291515076867654e-06, + "acceleration": 1.334889816462237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.636616490141023e-06, + "observation_loss": 6.436192961700726e-06, + "chamfer": 5.176190370548284e-06, + "track": 1.2600023637787672e-06, + "acceleration": 2.0042332948833064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.098738933564164e-06, + "observation_loss": 6.909996045578737e-06, + "chamfer": 5.532818704523379e-06, + "track": 1.3771773410553578e-06, + "acceleration": 1.8874301588311937e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.688292498642113e-06, + "observation_loss": 7.533773896284401e-06, + "chamfer": 5.972315193503164e-06, + "track": 1.5614588164680754e-06, + "acceleration": 1.5451904289420781e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.191355846065562e-06, + "observation_loss": 7.917076800367795e-06, + "chamfer": 6.249185389606282e-06, + "track": 1.667890956014162e-06, + "acceleration": 2.7427938675828045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.049464668147266e-06, + "observation_loss": 7.764914698782377e-06, + "chamfer": 6.149275577627122e-06, + "track": 1.615638893781579e-06, + "acceleration": 2.8454977041292295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.800726962159388e-06, + "observation_loss": 7.5295038186595775e-06, + "chamfer": 5.988977591186995e-06, + "track": 1.5405261137857451e-06, + "acceleration": 2.712228877044254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.418141649395693e-06, + "observation_loss": 7.3206142587878276e-06, + "chamfer": 5.832008355355356e-06, + "track": 1.4886060171193094e-06, + "acceleration": 9.752724849931838e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.180678494478343e-06, + "observation_loss": 7.13368172000628e-06, + "chamfer": 5.691650130756898e-06, + "track": 1.4420317029362195e-06, + "acceleration": 4.699666789065304e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.173989615694154e-06, + "observation_loss": 7.11285429133568e-06, + "chamfer": 5.671774033544352e-06, + "track": 1.4410800304176519e-06, + "acceleration": 6.113533856932918e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.233923952298937e-06, + "observation_loss": 7.148733857320622e-06, + "chamfer": 5.688831151928753e-06, + "track": 1.4599029327655444e-06, + "acceleration": 8.519004524032425e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.262145572894951e-06, + "observation_loss": 7.214093784568831e-06, + "chamfer": 5.733782472816529e-06, + "track": 1.4803110843786271e-06, + "acceleration": 4.805165332300021e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.493366865674034e-06, + "observation_loss": 7.287969310709741e-06, + "chamfer": 5.774708824901609e-06, + "track": 1.5132604858081322e-06, + "acceleration": 2.0539741285574564e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.873573849792592e-06, + "observation_loss": 7.3616570261947345e-06, + "chamfer": 5.831643193232594e-06, + "track": 1.5300138329621404e-06, + "acceleration": 5.119167667544389e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.552810868422966e-06, + "observation_loss": 7.5011344051745255e-06, + "chamfer": 5.923000117036281e-06, + "track": 1.5781341744514066e-06, + "acceleration": 1.0516761221879278e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.170775228994898e-06, + "observation_loss": 7.655521585547831e-06, + "chamfer": 6.044201654731296e-06, + "track": 1.6113197034428595e-06, + "acceleration": 1.5152535297602299e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.720315236132592e-06, + "observation_loss": 7.820774953870568e-06, + "chamfer": 6.17143541603582e-06, + "track": 1.649339424147911e-06, + "acceleration": 8.995404527922801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.562104085285682e-06, + "observation_loss": 8.18150510895066e-06, + "chamfer": 6.433039288822329e-06, + "track": 1.7484661611888441e-06, + "acceleration": 3.805987773830566e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.97591144166654e-06, + "observation_loss": 8.6855898189242e-06, + "chamfer": 6.778775968996342e-06, + "track": 1.9068137362410198e-06, + "acceleration": 2.903211964166985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.3929520517122e-06, + "observation_loss": 9.27201472222805e-06, + "chamfer": 7.177645784395281e-06, + "track": 2.0943687104590936e-06, + "acceleration": 1.2093764212295355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.691688319435343e-06, + "observation_loss": 9.597987627785187e-06, + "chamfer": 7.399725291179493e-06, + "track": 2.1982621092320187e-06, + "acceleration": 9.370060638502764e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0110319635714404e-05, + "observation_loss": 9.82253550319001e-06, + "chamfer": 7.5559992183116265e-06, + "track": 2.2665358301310334e-06, + "acceleration": 2.877837630421709e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0215533620794304e-05, + "observation_loss": 1.0038251275545917e-05, + "chamfer": 7.680331691517495e-06, + "track": 2.3579200387757737e-06, + "acceleration": 1.7728270051975414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0269181075273082e-05, + "observation_loss": 1.0149707122764084e-05, + "chamfer": 7.744444701529574e-06, + "track": 2.4052626486081863e-06, + "acceleration": 1.1947376776788587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.038092523231171e-05, + "observation_loss": 1.0044003829534631e-05, + "chamfer": 7.673821528442204e-06, + "track": 2.3701823010924272e-06, + "acceleration": 3.3692134593366063e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0602318070596084e-05, + "observation_loss": 9.767997653398197e-06, + "chamfer": 7.502984317397932e-06, + "track": 2.2650133360002656e-06, + "acceleration": 8.343202466676303e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0142269275092985e-05, + "observation_loss": 9.657664122642018e-06, + "chamfer": 7.423611805279506e-06, + "track": 2.234052089988836e-06, + "acceleration": 4.846054935114807e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.756201507116202e-06, + "observation_loss": 9.557445082464255e-06, + "chamfer": 7.3522323873476125e-06, + "track": 2.2052131498639937e-06, + "acceleration": 1.987562541216903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.576662705512717e-06, + "observation_loss": 9.345940270577557e-06, + "chamfer": 7.198294042609632e-06, + "track": 2.147646455341601e-06, + "acceleration": 2.3072215071806568e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.830330782278907e-06, + "observation_loss": 9.195988241117448e-06, + "chamfer": 7.0905848588154186e-06, + "track": 2.10540383704938e-06, + "acceleration": 6.343427685351344e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3519124877348077e-05, + "observation_loss": 9.271048838854767e-06, + "chamfer": 7.111261311365524e-06, + "track": 2.159787982236594e-06, + "acceleration": 4.248076038493309e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1973514119745232e-05, + "observation_loss": 9.492962817603257e-06, + "chamfer": 7.258624918904388e-06, + "track": 2.2343376713251928e-06, + "acceleration": 2.480551529515651e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0729543646448292e-05, + "observation_loss": 9.483748726779595e-06, + "chamfer": 7.2623756750545e-06, + "track": 2.221373506472446e-06, + "acceleration": 1.2457950333555345e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0522067896090448e-05, + "observation_loss": 9.532534932077397e-06, + "chamfer": 7.2760594775900245e-06, + "track": 2.2564756818610476e-06, + "acceleration": 9.895328503262135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0191360161115881e-05, + "observation_loss": 9.601663805369753e-06, + "chamfer": 7.319255018956028e-06, + "track": 2.28240855904005e-06, + "acceleration": 5.896960715290334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0272732652083505e-05, + "observation_loss": 9.738421795191243e-06, + "chamfer": 7.395815373456571e-06, + "track": 2.342606421734672e-06, + "acceleration": 5.343109705790994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0267845027556177e-05, + "observation_loss": 9.877589945972431e-06, + "chamfer": 7.459495918737957e-06, + "track": 2.4180942546081496e-06, + "acceleration": 3.902553089574212e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0198370546277147e-05, + "observation_loss": 1.0089442184835207e-05, + "chamfer": 7.5977345659339335e-06, + "track": 2.491707391527598e-06, + "acceleration": 1.0892794222172597e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0474036571395118e-05, + "observation_loss": 1.0390751413069665e-05, + "chamfer": 7.807259862602223e-06, + "track": 2.583491777841118e-06, + "acceleration": 8.328524359058065e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0714266863942612e-05, + "observation_loss": 1.0604300769045949e-05, + "chamfer": 7.950684448587708e-06, + "track": 2.6536160930845654e-06, + "acceleration": 1.0996595278811583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0794695299409796e-05, + "observation_loss": 1.068339406629093e-05, + "chamfer": 7.99039571575122e-06, + "track": 2.6929988052870613e-06, + "acceleration": 1.1130119759172885e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0898134860326536e-05, + "observation_loss": 1.07533505797619e-05, + "chamfer": 8.033763151615858e-06, + "track": 2.719586973398691e-06, + "acceleration": 1.447840105583964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.099431756301783e-05, + "observation_loss": 1.0841408766282257e-05, + "chamfer": 8.082193744485267e-06, + "track": 2.75921502179699e-06, + "acceleration": 1.5290908095266786e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0933172234217636e-05, + "observation_loss": 1.0852649211301468e-05, + "chamfer": 8.078786777332425e-06, + "track": 2.773862888716394e-06, + "acceleration": 8.052264632851802e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1087817256338894e-05, + "observation_loss": 1.0839704373211134e-05, + "chamfer": 8.068646820902359e-06, + "track": 2.771057779682451e-06, + "acceleration": 2.481130252363073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1047992302337661e-05, + "observation_loss": 1.09156608232297e-05, + "chamfer": 8.113169315038249e-06, + "track": 2.8024910534441005e-06, + "acceleration": 1.3233155016223463e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1087886377936229e-05, + "observation_loss": 1.0989719157805666e-05, + "chamfer": 8.146356776705943e-06, + "track": 2.8433626084733987e-06, + "acceleration": 9.816725565769957e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1135941349493805e-05, + "observation_loss": 1.1048850865336135e-05, + "chamfer": 8.182933015632443e-06, + "track": 2.865917849703692e-06, + "acceleration": 8.709084653446553e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1203035683138296e-05, + "observation_loss": 1.112537574954331e-05, + "chamfer": 8.22390393295791e-06, + "track": 2.9014715892117238e-06, + "acceleration": 7.765964937789249e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.118783256970346e-05, + "observation_loss": 1.108312608266715e-05, + "chamfer": 8.201942364394199e-06, + "track": 2.881183945646626e-06, + "acceleration": 1.0470644440374599e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.1023872502846643e-05, + "observation_loss": 1.0931360520771705e-05, + "chamfer": 8.105997039820068e-06, + "track": 2.825363935698988e-06, + "acceleration": 9.251213839434058e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.245524128369652e-06, + "chamfer_mean": 5.606896576656102e-06, + "track_mean": 1.5218815979286167e-06, + "acceleration_mean": 1.1167459405362716e-06, + "observation_score": 7.128778167479292e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4322729159994196 + }, + "score_arrays_file": "pass_scores/pass_end_0331.npz", + "score_arrays_sha256": "f83d5f51b3dafa9c57edbd5c00666c10b189b387219499a6d14e9652077c1d06" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0332.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0332.json new file mode 100644 index 0000000000000000000000000000000000000000..57c489b635d82ed2a6af236415f9652eedba910f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0332.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31872, + "completed_passes": 332, + "snapshot": "pass_end_0332", + "candidate": true, + "snapshot_arrays_sha256": "9e6f9e416de44aa3689c7d6c88e636bb0d069174c71484099c9a617cbfdeb4f0", + "score": 7.126314438702745e-06, + "score_result": { + "score": 7.126314438702745e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.872757704608375e-06, + 3.1541976568405516e-06, + 3.242404545744648e-06, + 3.6778183130081743e-06, + 4.199114755465416e-06, + 4.422023266670294e-06, + 4.175050889898557e-06, + 4.015957529190928e-06, + 3.954590738430852e-06, + 4.050483767059632e-06, + 4.42630471297889e-06, + 4.882052053289954e-06, + 5.188093382457737e-06, + 5.39137226951425e-06, + 5.386586963140871e-06, + 5.276959200273268e-06, + 4.920173068967415e-06, + 4.534549589152448e-06, + 4.3572399590630084e-06, + 4.352466476120753e-06, + 4.309901669330429e-06, + 4.175004960416118e-06, + 4.086745320819318e-06, + 4.094730684300885e-06, + 4.142639227211475e-06, + 4.353471013018861e-06, + 4.749354502564529e-06, + 4.972067472408526e-06, + 4.936342975270236e-06, + 4.897462531516794e-06, + 5.070311999588739e-06, + 5.328693987394217e-06, + 5.634281023958465e-06, + 5.878628144273534e-06, + 5.938882623013342e-06, + 6.001303063385421e-06, + 6.22537118033506e-06, + 6.367918103933334e-06, + 6.079944796510972e-06, + 5.621363925456535e-06, + 5.493108346854569e-06, + 5.749098363594385e-06, + 5.951746970822569e-06, + 6.140916411823127e-06, + 6.216520887392107e-06, + 6.285983999987366e-06, + 6.432433110603597e-06, + 6.904831479914719e-06, + 7.527310572186252e-06, + 7.910962267487776e-06, + 7.758245374134276e-06, + 7.5236562224745285e-06, + 7.316346000152407e-06, + 7.130436188163003e-06, + 7.110717433533864e-06, + 7.147305041144136e-06, + 7.21359538147226e-06, + 7.28775830793893e-06, + 7.362035830738023e-06, + 7.50144954508869e-06, + 7.656194611627143e-06, + 7.822102816135157e-06, + 8.183591489796527e-06, + 8.688316484040115e-06, + 9.275542652176227e-06, + 9.602507816452999e-06, + 9.827893336478155e-06, + 1.0044519513030536e-05, + 1.0156776625080965e-05, + 1.005114427243825e-05, + 9.77493436948862e-06, + 9.663033779361285e-06, + 9.559767022437882e-06, + 9.346366823592689e-06, + 9.192299330607057e-06, + 9.267047971661668e-06, + 9.488934665569104e-06, + 9.482060704613104e-06, + 9.528752343612723e-06, + 9.593675713404082e-06, + 9.73168425844051e-06, + 9.870861504168715e-06, + 1.0080816537083592e-05, + 1.0381011634308379e-05, + 1.0594372724881396e-05, + 1.0673685210349504e-05, + 1.0743252460088115e-05, + 1.0830799510586075e-05, + 1.0842025403690059e-05, + 1.0828885933733545e-05, + 1.0904789633059409e-05, + 1.0979188118653838e-05, + 1.1038668162655085e-05, + 1.1115653251181357e-05, + 1.1073627320001833e-05, + 1.0922328328888398e-05 + ] + ], + "episode_mean_losses": [ + 7.126314438702745e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.872757704608375e-06, + "observation_loss": 2.872757704608375e-06, + "chamfer": 2.436668864902458e-06, + "track": 4.360889533927548e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.151930261286907e-05, + "observation_loss": 3.1541976568405516e-06, + "chamfer": 2.6675515982788056e-06, + "track": 4.866459448749083e-07, + "acceleration": 3.836510586552322e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.306566238985397e-05, + "observation_loss": 3.242404545744648e-06, + "chamfer": 2.7457665510155493e-06, + "track": 4.9663793788568e-07, + "acceleration": 1.982325738936197e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0072822078655008e-05, + "observation_loss": 3.6778183130081743e-06, + "chamfer": 3.1019726520753466e-06, + "track": 5.758456609328277e-07, + "acceleration": 6.395003765646834e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.745188445871463e-06, + "observation_loss": 4.199114755465416e-06, + "chamfer": 3.5222526548750466e-06, + "track": 6.768622142772074e-07, + "acceleration": 1.5460738040928845e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5097898439271376e-06, + "observation_loss": 4.422023266670294e-06, + "chamfer": 3.699840362969553e-06, + "track": 7.221829605441599e-07, + "acceleration": 1.0877668046305189e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.80861035612179e-06, + "observation_loss": 4.175050889898557e-06, + "chamfer": 3.498236310406355e-06, + "track": 6.768145226487832e-07, + "acceleration": 6.335595799100702e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.59177454104065e-06, + "observation_loss": 4.015957529190928e-06, + "chamfer": 3.3705725854815682e-06, + "track": 6.453849437093595e-07, + "acceleration": 5.758170686931408e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.430600711202715e-06, + "observation_loss": 3.954590738430852e-06, + "chamfer": 3.324015551697812e-06, + "track": 6.305751298896212e-07, + "acceleration": 4.7601000119357195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.355246346676722e-06, + "observation_loss": 4.050483767059632e-06, + "chamfer": 3.4029494599963073e-06, + "track": 6.475345344369998e-07, + "acceleration": 3.047625796170905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.565345989249181e-06, + "observation_loss": 4.42630471297889e-06, + "chamfer": 3.7092529510118766e-06, + "track": 7.17051591436757e-07, + "acceleration": 1.3904126205943612e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.9738946472643875e-06, + "observation_loss": 4.882052053289954e-06, + "chamfer": 4.075409833603771e-06, + "track": 8.066420491559256e-07, + "acceleration": 9.184252292016026e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.2840382522845175e-06, + "observation_loss": 5.188093382457737e-06, + "chamfer": 4.3271074900985695e-06, + "track": 8.609859492025862e-07, + "acceleration": 9.594491956477214e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.496930953086121e-06, + "observation_loss": 5.39137226951425e-06, + "chamfer": 4.5003539526078384e-06, + "track": 8.910182032195735e-07, + "acceleration": 1.0555878304785438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.44673957847408e-06, + "observation_loss": 5.386586963140871e-06, + "chamfer": 4.500328032008838e-06, + "track": 8.862588174451957e-07, + "acceleration": 6.015268638748239e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.399541805672925e-06, + "observation_loss": 5.276959200273268e-06, + "chamfer": 4.4107109715696424e-06, + "track": 8.662481150167878e-07, + "acceleration": 1.2258240644769103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.122665697854245e-06, + "observation_loss": 4.920173068967415e-06, + "chamfer": 4.117991011298727e-06, + "track": 8.021819439818501e-07, + "acceleration": 2.0249278520623193e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.8495330702280626e-06, + "observation_loss": 4.534549589152448e-06, + "chamfer": 3.7995223465259187e-06, + "track": 7.350274131567858e-07, + "acceleration": 3.149835947624524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.523422376223607e-06, + "observation_loss": 4.3572399590630084e-06, + "chamfer": 3.649538030003896e-06, + "track": 7.07701701685437e-07, + "acceleration": 1.6618248821487214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.526093562162714e-06, + "observation_loss": 4.352466476120753e-06, + "chamfer": 3.6414921851246618e-06, + "track": 7.109742341526726e-07, + "acceleration": 1.73627029198542e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.6020404624869116e-06, + "observation_loss": 4.309901669330429e-06, + "chamfer": 3.605038727982901e-06, + "track": 7.048627139738528e-07, + "acceleration": 2.9213884999990114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.474634351936402e-06, + "observation_loss": 4.175004960416118e-06, + "chamfer": 3.4946192499774043e-06, + "track": 6.8038588096897e-07, + "acceleration": 2.996293630985747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.690192326961551e-06, + "observation_loss": 4.086745320819318e-06, + "chamfer": 3.42689986609912e-06, + "track": 6.598456820938736e-07, + "acceleration": 6.03446835611976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 5.0059770728694275e-06, + "observation_loss": 4.094730684300885e-06, + "chamfer": 3.429450316616567e-06, + "track": 6.652803108408989e-07, + "acceleration": 9.112462180382863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.8251772568619344e-06, + "observation_loss": 4.142639227211475e-06, + "chamfer": 3.4519755445217015e-06, + "track": 6.906635121595173e-07, + "acceleration": 6.825379728070402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.6753661990805995e-06, + "observation_loss": 4.353471013018861e-06, + "chamfer": 3.60822377842851e-06, + "track": 7.452471777469327e-07, + "acceleration": 3.218950439531909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.989095032215118e-06, + "observation_loss": 4.749354502564529e-06, + "chamfer": 3.908965027221711e-06, + "track": 8.403893616559799e-07, + "acceleration": 2.3974052965058945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.179920663067605e-06, + "observation_loss": 4.972067472408526e-06, + "chamfer": 4.078654455952346e-06, + "track": 8.934130164561793e-07, + "acceleration": 2.078531053939514e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.348927061277209e-06, + "observation_loss": 4.936342975270236e-06, + "chamfer": 4.053626980748959e-06, + "track": 8.827160513646959e-07, + "acceleration": 4.125838870550069e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.257916200207546e-06, + "observation_loss": 4.897462531516794e-06, + "chamfer": 4.03299009121838e-06, + "track": 8.644722129247384e-07, + "acceleration": 3.6045358342562395e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.288086413202109e-06, + "observation_loss": 5.070311999588739e-06, + "chamfer": 4.179441020824015e-06, + "track": 8.908707513910485e-07, + "acceleration": 2.177745130893527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.641353254759451e-06, + "observation_loss": 5.328693987394217e-06, + "chamfer": 4.385698957776185e-06, + "track": 9.429948022443568e-07, + "acceleration": 3.1265923894352454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.8889936553896405e-06, + "observation_loss": 5.634281023958465e-06, + "chamfer": 4.63023889096803e-06, + "track": 1.004042019303597e-06, + "acceleration": 2.547125461660471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.53533015793073e-06, + "observation_loss": 5.878628144273534e-06, + "chamfer": 4.8171054913837e-06, + "track": 1.0615226528898347e-06, + "acceleration": 6.567021841874521e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.908820978424046e-06, + "observation_loss": 5.938882623013342e-06, + "chamfer": 4.864132279180922e-06, + "track": 1.0747503438324202e-06, + "acceleration": 9.699383554107044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.731080586381722e-06, + "observation_loss": 6.001303063385421e-06, + "chamfer": 4.89500826006406e-06, + "track": 1.1062948033213615e-06, + "acceleration": 1.729777864056814e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.864449798944406e-06, + "observation_loss": 6.22537118033506e-06, + "chamfer": 5.044251338404138e-06, + "track": 1.1811198419309221e-06, + "acceleration": 1.6390787322961842e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.90109424997354e-06, + "observation_loss": 6.367918103933334e-06, + "chamfer": 5.154298378329258e-06, + "track": 1.213619725604076e-06, + "acceleration": 1.5331759186665295e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.547674158558948e-06, + "observation_loss": 6.079944796510972e-06, + "chamfer": 4.947326033288846e-06, + "track": 1.132618876908964e-06, + "acceleration": 1.4677294757348136e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.010866400174564e-06, + "observation_loss": 5.621363925456535e-06, + "chamfer": 4.59253897133749e-06, + "track": 1.0288249541190453e-06, + "acceleration": 3.895024178746098e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.840486210217932e-06, + "observation_loss": 5.493108346854569e-06, + "chamfer": 4.4905609684064984e-06, + "track": 1.0025474921349087e-06, + "acceleration": 3.4737774967652513e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.038455012458144e-06, + "observation_loss": 5.749098363594385e-06, + "chamfer": 4.675114723795559e-06, + "track": 1.0739836397988256e-06, + "acceleration": 2.8935670570717775e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.060812665964477e-06, + "observation_loss": 5.951746970822569e-06, + "chamfer": 4.81316055811476e-06, + "track": 1.1385864127078094e-06, + "acceleration": 1.0906588698844644e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.22501738689607e-06, + "observation_loss": 6.140916411823127e-06, + "chamfer": 4.951877599523868e-06, + "track": 1.1890389259860967e-06, + "acceleration": 8.410104612721625e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.347250746330246e-06, + "observation_loss": 6.216520887392107e-06, + "chamfer": 5.006019819120411e-06, + "track": 1.2105008408980211e-06, + "acceleration": 1.3072984472728422e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.424182174669113e-06, + "observation_loss": 6.285983999987366e-06, + "chamfer": 5.0575376917549875e-06, + "track": 1.2284461945455405e-06, + "acceleration": 1.3819818889260205e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.6389811763656326e-06, + "observation_loss": 6.432433110603597e-06, + "chamfer": 5.173240424483083e-06, + "track": 1.2591929134941893e-06, + "acceleration": 2.065482078705827e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.103972166078165e-06, + "observation_loss": 6.904831479914719e-06, + "chamfer": 5.528871042770334e-06, + "track": 1.375960323457548e-06, + "acceleration": 1.9914052984404407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.68283280194737e-06, + "observation_loss": 7.527310572186252e-06, + "chamfer": 5.9674734984582756e-06, + "track": 1.5598370737279765e-06, + "acceleration": 1.5552201659829734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.187089406419545e-06, + "observation_loss": 7.910962267487776e-06, + "chamfer": 6.244772976060631e-06, + "track": 1.6661895188008202e-06, + "acceleration": 2.761269684015133e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.047040864767041e-06, + "observation_loss": 7.758245374134276e-06, + "chamfer": 6.144443432276603e-06, + "track": 1.6138018281708355e-06, + "acceleration": 2.8879543378934613e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.797453690727707e-06, + "observation_loss": 7.5236562224745285e-06, + "chamfer": 5.984656127111521e-06, + "track": 1.5390002090498456e-06, + "acceleration": 2.7379758194001624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.416788776026806e-06, + "observation_loss": 7.316346000152407e-06, + "chamfer": 5.828798293805448e-06, + "track": 1.4875477063469589e-06, + "acceleration": 1.0044261244956942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.178003215813078e-06, + "observation_loss": 7.130436188163003e-06, + "chamfer": 5.689188583346549e-06, + "track": 1.4412476048164535e-06, + "acceleration": 4.75671839694769e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1724380177329294e-06, + "observation_loss": 7.110717433533864e-06, + "chamfer": 5.670174687111285e-06, + "track": 1.4405426327357418e-06, + "acceleration": 6.172056288278327e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.233331416500732e-06, + "observation_loss": 7.147305041144136e-06, + "chamfer": 5.687752945959801e-06, + "track": 1.4595519814974978e-06, + "acceleration": 8.602623324804881e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.2614038799656555e-06, + "observation_loss": 7.21359538147226e-06, + "chamfer": 5.733365924243117e-06, + "track": 1.4802296846028185e-06, + "acceleration": 4.7808292436002375e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.492221811844502e-06, + "observation_loss": 7.28775830793893e-06, + "chamfer": 5.774526471213903e-06, + "track": 1.5132320640987018e-06, + "acceleration": 2.0446348969471728e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.875092705944553e-06, + "observation_loss": 7.362035830738023e-06, + "chamfer": 5.831882845086511e-06, + "track": 1.5301527582778363e-06, + "acceleration": 5.130569888933678e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.55871712701628e-06, + "observation_loss": 7.50144954508869e-06, + "chamfer": 5.9232406783849e-06, + "track": 1.5782089803906274e-06, + "acceleration": 1.057267240867077e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.17856868909439e-06, + "observation_loss": 7.656194611627143e-06, + "chamfer": 6.044661859050393e-06, + "track": 1.6115325252030743e-06, + "acceleration": 1.5223741911540856e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.72537202667445e-06, + "observation_loss": 7.822102816135157e-06, + "chamfer": 6.172456778585911e-06, + "track": 1.6496463786097593e-06, + "acceleration": 9.032692105392925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.565178177377675e-06, + "observation_loss": 8.183591489796527e-06, + "chamfer": 6.434544502553763e-06, + "track": 1.7490467598690884e-06, + "acceleration": 3.815869717982423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.978880941867828e-06, + "observation_loss": 8.688316484040115e-06, + "chamfer": 6.780595413147239e-06, + "track": 1.9077208435192006e-06, + "acceleration": 2.905643157191662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.396544555784203e-06, + "observation_loss": 9.275542652176227e-06, + "chamfer": 7.180089596658945e-06, + "track": 2.0954530555172823e-06, + "acceleration": 1.2100230151190772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.696317647467367e-06, + "observation_loss": 9.602507816452999e-06, + "chamfer": 7.402829396596644e-06, + "track": 2.1996784198563546e-06, + "acceleration": 9.380987364693283e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0115388249687385e-05, + "observation_loss": 9.827893336478155e-06, + "chamfer": 7.559746336482931e-06, + "track": 2.2681467726215487e-06, + "acceleration": 2.8749533953487116e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.022196465783054e-05, + "observation_loss": 1.0044519513030536e-05, + "chamfer": 7.684804586460814e-06, + "track": 2.3597149265697226e-06, + "acceleration": 1.7744535796282435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0276232387695927e-05, + "observation_loss": 1.0156776625080965e-05, + "chamfer": 7.749648830213118e-06, + "track": 2.407128249615198e-06, + "acceleration": 1.1945553524128627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0388413102191407e-05, + "observation_loss": 1.005114427243825e-05, + "chamfer": 7.679003829252906e-06, + "track": 2.3721404431853443e-06, + "acceleration": 3.3726846027093416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0610991921566892e-05, + "observation_loss": 9.77493436948862e-06, + "chamfer": 7.507984719268279e-06, + "track": 2.2669494228466647e-06, + "acceleration": 8.360579499822052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0149059562536422e-05, + "observation_loss": 9.663033779361285e-06, + "chamfer": 7.427626314893132e-06, + "track": 2.235407464468153e-06, + "acceleration": 4.860261810790689e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.757979569258168e-06, + "observation_loss": 9.559767022437882e-06, + "chamfer": 7.353905857598875e-06, + "track": 2.2058609374653315e-06, + "acceleration": 1.982123905008848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.577262972015887e-06, + "observation_loss": 9.346366823592689e-06, + "chamfer": 7.198522780527128e-06, + "track": 2.1478442704392364e-06, + "acceleration": 2.3089609157977975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.83615973382257e-06, + "observation_loss": 9.192299330607057e-06, + "chamfer": 7.08842071617255e-06, + "track": 2.103878841808182e-06, + "acceleration": 6.438604600589315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.354505820927443e-05, + "observation_loss": 9.267047971661668e-06, + "chamfer": 7.108517820597626e-06, + "track": 2.158530151064042e-06, + "acceleration": 4.2780102376127616e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1939822798012756e-05, + "observation_loss": 9.488934665569104e-06, + "chamfer": 7.255853688548086e-06, + "track": 2.233081431768369e-06, + "acceleration": 2.4508881324436516e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0764996659418102e-05, + "observation_loss": 9.482060704613104e-06, + "chamfer": 7.261438440764323e-06, + "track": 2.220622491222457e-06, + "acceleration": 1.2829356137444847e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0557746463746298e-05, + "observation_loss": 9.528752343612723e-06, + "chamfer": 7.273252322193002e-06, + "track": 2.25549956667237e-06, + "acceleration": 1.0289944611940882e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.02167632576311e-05, + "observation_loss": 9.593675713404082e-06, + "chamfer": 7.313557489396771e-06, + "track": 2.2801186787546612e-06, + "acceleration": 6.23087942130951e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0295530955772847e-05, + "observation_loss": 9.73168425844051e-06, + "chamfer": 7.3914247877837624e-06, + "track": 2.340259015909396e-06, + "acceleration": 5.638466973323375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0275945896864869e-05, + "observation_loss": 9.870861504168715e-06, + "chamfer": 7.45513671063236e-06, + "track": 2.415725020910031e-06, + "acceleration": 4.0508456322640995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0192342415393796e-05, + "observation_loss": 1.0080816537083592e-05, + "chamfer": 7.59203339839587e-06, + "track": 2.488783366061398e-06, + "acceleration": 1.1152614121101578e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0462769751029555e-05, + "observation_loss": 1.0381011634308379e-05, + "chamfer": 7.800791536283214e-06, + "track": 2.5802200980251655e-06, + "acceleration": 8.175818067002183e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0704788110160735e-05, + "observation_loss": 1.0594372724881396e-05, + "chamfer": 7.94412972027203e-06, + "track": 2.650242549862014e-06, + "acceleration": 1.1041541370104824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.078574587154435e-05, + "observation_loss": 1.0673685210349504e-05, + "chamfer": 7.984120202308986e-06, + "track": 2.689564780666842e-06, + "acceleration": 1.1206083883052997e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0888777978834696e-05, + "observation_loss": 1.0743252460088115e-05, + "chamfer": 8.027261173992883e-06, + "track": 2.7159912860952318e-06, + "acceleration": 1.4552527716205077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0983538231812418e-05, + "observation_loss": 1.0830799510586075e-05, + "chamfer": 8.075355253822636e-06, + "track": 2.755444484137115e-06, + "acceleration": 1.527388775457439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0923720765276812e-05, + "observation_loss": 1.0842025403690059e-05, + "chamfer": 8.071982847468462e-06, + "track": 2.7700423288479215e-06, + "acceleration": 8.169577370154002e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1078234820161015e-05, + "observation_loss": 1.0828885933733545e-05, + "chamfer": 8.061643711698707e-06, + "track": 2.767241767287487e-06, + "acceleration": 2.4934851694524696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1036660907848272e-05, + "observation_loss": 1.0904789633059409e-05, + "chamfer": 8.106171662802808e-06, + "track": 2.798618197630276e-06, + "acceleration": 1.3187143110826582e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1077340786869172e-05, + "observation_loss": 1.0979188118653838e-05, + "chamfer": 8.139665624185e-06, + "track": 2.8395222670951625e-06, + "acceleration": 9.815308743554851e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1125869605166372e-05, + "observation_loss": 1.1038668162655085e-05, + "chamfer": 8.176454684871715e-06, + "track": 2.862213705157046e-06, + "acceleration": 8.72016912012441e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1193795216968283e-05, + "observation_loss": 1.1115653251181357e-05, + "chamfer": 8.217782124120276e-06, + "track": 2.897871581808431e-06, + "acceleration": 7.814175972953308e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1178961358382367e-05, + "observation_loss": 1.1073627320001833e-05, + "chamfer": 8.195970622182358e-06, + "track": 2.8776569251931505e-06, + "acceleration": 1.0533404548596081e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.101546331483405e-05, + "observation_loss": 1.0922328328888398e-05, + "chamfer": 8.100320883386303e-06, + "track": 2.8220072181284195e-06, + "acceleration": 9.313515647590975e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.248194959037392e-06, + "chamfer_mean": 5.605170651771611e-06, + "track_mean": 1.521143776272993e-06, + "acceleration_mean": 1.1218805542334565e-06, + "observation_score": 7.126314438702745e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4153709090005577 + }, + "score_arrays_file": "pass_scores/pass_end_0332.npz", + "score_arrays_sha256": "ba7ac9f53621b949d8ed35d0f512d1d4fe3b2190ad106112a2b6bd3536f82e18" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0333.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0333.json new file mode 100644 index 0000000000000000000000000000000000000000..787dbc71b8cedf36955be881cec98791240705ca --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0333.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 31968, + "completed_passes": 333, + "snapshot": "pass_end_0333", + "candidate": true, + "snapshot_arrays_sha256": "792137f115702ae018c8183898a5aa6bbb470a02956dbf8fd1b31aea4f4272aa", + "score": 7.124447013969378e-06, + "score_result": { + "score": 7.124447013969378e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8728788947773864e-06, + 3.154095338686602e-06, + 3.2412233395007206e-06, + 3.6766273296962027e-06, + 4.198222995910328e-06, + 4.421895937412046e-06, + 4.175019512331346e-06, + 4.014929800177924e-06, + 3.952803126594517e-06, + 4.04799493480823e-06, + 4.4235157474759035e-06, + 4.878544586972566e-06, + 5.1845263442373835e-06, + 5.3874473451287486e-06, + 5.382913968787761e-06, + 5.2733639677171595e-06, + 4.916488251183182e-06, + 4.530875685304636e-06, + 4.353939857537625e-06, + 4.349974915385246e-06, + 4.30766021963791e-06, + 4.171056843915721e-06, + 4.081196038896451e-06, + 4.089866706635803e-06, + 4.1395305743208155e-06, + 4.3521058614715e-06, + 4.747612365463283e-06, + 4.9681070777296554e-06, + 4.930856903229142e-06, + 4.893318418908166e-06, + 5.070366114523495e-06, + 5.330671683623223e-06, + 5.639961273118388e-06, + 5.885612154088449e-06, + 5.945164502918487e-06, + 6.0030852182535455e-06, + 6.222371212061262e-06, + 6.368413778545801e-06, + 6.082507752580568e-06, + 5.621917807729915e-06, + 5.488030637934571e-06, + 5.742013854614925e-06, + 5.946371857135091e-06, + 6.134964678494725e-06, + 6.2122589952195995e-06, + 6.282787580857985e-06, + 6.429848781408509e-06, + 6.902825134602608e-06, + 7.526074568886543e-06, + 7.910652129794471e-06, + 7.757998901070096e-06, + 7.5242005550535396e-06, + 7.3172059273929335e-06, + 7.1315957939077634e-06, + 7.1113408921519294e-06, + 7.147863470891025e-06, + 7.214436209324049e-06, + 7.289307177416049e-06, + 7.364481916738441e-06, + 7.504815584979951e-06, + 7.660337359993719e-06, + 7.827913577784784e-06, + 8.191413144231774e-06, + 8.698137207829859e-06, + 9.287662578572053e-06, + 9.61565092438832e-06, + 9.842035979090724e-06, + 1.0060197382699698e-05, + 1.0174085218750406e-05, + 1.0068233677884564e-05, + 9.790141120902263e-06, + 9.675543878984172e-06, + 9.56795884121675e-06, + 9.351333574159071e-06, + 9.19111062103184e-06, + 9.263548236049246e-06, + 9.483242138230707e-06, + 9.477771527599543e-06, + 9.521082574792672e-06, + 9.582304301147815e-06, + 9.721720743982587e-06, + 9.86112718237564e-06, + 1.0068897609016858e-05, + 1.0367959475843236e-05, + 1.0581040442048106e-05, + 1.0660823136277031e-05, + 1.0729574569268152e-05, + 1.0817069778568111e-05, + 1.0827545338543132e-05, + 1.0814454071805812e-05, + 1.0889417353610042e-05, + 1.096382038667798e-05, + 1.102276291931048e-05, + 1.1099647963419557e-05, + 1.1057292795157991e-05, + 1.0906316674663685e-05 + ] + ], + "episode_mean_losses": [ + 7.124447013969378e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8728788947773864e-06, + "observation_loss": 2.8728788947773864e-06, + "chamfer": 2.4367573132622056e-06, + "track": 4.36121524671762e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.152522160438821e-05, + "observation_loss": 3.154095338686602e-06, + "chamfer": 2.667459511940251e-06, + "track": 4.866357699029322e-07, + "acceleration": 3.8371126720448956e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3059441446093842e-05, + "observation_loss": 3.2412233395007206e-06, + "chamfer": 2.744784069363959e-06, + "track": 4.964393269801803e-07, + "acceleration": 1.9818218788714148e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0070110874949023e-05, + "observation_loss": 3.6766273296962027e-06, + "chamfer": 3.100977664871607e-06, + "track": 5.75649551137758e-07, + "acceleration": 6.3934835452528205e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.73862553210347e-06, + "observation_loss": 4.198222995910328e-06, + "chamfer": 3.5214927720517153e-06, + "track": 6.767301670151937e-07, + "acceleration": 1.5404026498799794e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.509483798959991e-06, + "observation_loss": 4.421895937412046e-06, + "chamfer": 3.699678700286313e-06, + "track": 7.222174644994084e-07, + "acceleration": 1.0875879752347828e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.807963250641478e-06, + "observation_loss": 4.175019512331346e-06, + "chamfer": 3.4981364933628356e-06, + "track": 6.768829621250916e-07, + "acceleration": 6.329439088403888e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.593270205077715e-06, + "observation_loss": 4.014929800177924e-06, + "chamfer": 3.3696462651278125e-06, + "track": 6.452833645198552e-07, + "acceleration": 5.783406322734663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.429696673469152e-06, + "observation_loss": 3.952803126594517e-06, + "chamfer": 3.3224712296942016e-06, + "track": 6.303316695266403e-07, + "acceleration": 4.768937174048915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.352756604930619e-06, + "observation_loss": 4.04799493480823e-06, + "chamfer": 3.4008489819825627e-06, + "track": 6.471460096690862e-07, + "acceleration": 3.0476184065264533e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.5628244151885156e-06, + "observation_loss": 4.4235157474759035e-06, + "chamfer": 3.7069464724481804e-06, + "track": 7.165692181843042e-07, + "acceleration": 1.393086961343215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.970188456354663e-06, + "observation_loss": 4.878544586972566e-06, + "chamfer": 4.072543561051134e-06, + "track": 8.0600113960827e-07, + "acceleration": 9.164398306893418e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.2808381951763295e-06, + "observation_loss": 5.1845263442373835e-06, + "chamfer": 4.324200290284352e-06, + "track": 8.603262244832877e-07, + "acceleration": 9.631180830638186e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.492920536198653e-06, + "observation_loss": 5.3874473451287486e-06, + "chamfer": 4.497140707826475e-06, + "track": 8.903065236154362e-07, + "acceleration": 1.0547316264819528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.443083864520304e-06, + "observation_loss": 5.382913968787761e-06, + "chamfer": 4.497343070397619e-06, + "track": 8.855707278598857e-07, + "acceleration": 6.017000941938022e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.3959124670655e-06, + "observation_loss": 5.2733639677171595e-06, + "chamfer": 4.407787400850793e-06, + "track": 8.655765668663662e-07, + "acceleration": 1.2254852777004999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.119061370351119e-06, + "observation_loss": 4.916488251183182e-06, + "chamfer": 4.114972398383543e-06, + "track": 8.015156822693825e-07, + "acceleration": 2.0257309074622754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.847093805437908e-06, + "observation_loss": 4.530875685304636e-06, + "chamfer": 3.7965105548209976e-06, + "track": 7.343653010138951e-07, + "acceleration": 3.162180064464337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.520676156971604e-06, + "observation_loss": 4.353939857537625e-06, + "chamfer": 3.646778168331366e-06, + "track": 7.071616892062593e-07, + "acceleration": 1.6673608627115755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.521466053120093e-06, + "observation_loss": 4.349974915385246e-06, + "chamfer": 3.6393944355950225e-06, + "track": 7.10580366103386e-07, + "acceleration": 1.7149123721083015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.600563897838583e-06, + "observation_loss": 4.30766021963791e-06, + "chamfer": 3.603139020924573e-06, + "track": 7.045210281830805e-07, + "acceleration": 2.929038771526393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.474625711736735e-06, + "observation_loss": 4.171056843915721e-06, + "chamfer": 3.4913330182462232e-06, + "track": 6.797237688260793e-07, + "acceleration": 3.03568896242723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.6871255108271725e-06, + "observation_loss": 4.081196038896451e-06, + "chamfer": 3.422283953113947e-06, + "track": 6.589119152522471e-07, + "acceleration": 6.059294719307218e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.98636154588894e-06, + "observation_loss": 4.089866706635803e-06, + "chamfer": 3.425357817832264e-06, + "track": 6.645091161772143e-07, + "acceleration": 8.964948392531369e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.817660737899132e-06, + "observation_loss": 4.1395305743208155e-06, + "chamfer": 3.4493211842345772e-06, + "track": 6.902094469296571e-07, + "acceleration": 6.78130390951992e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.671150691137882e-06, + "observation_loss": 4.3521058614715e-06, + "chamfer": 3.6069563975615893e-06, + "track": 7.45149463909911e-07, + "acceleration": 3.190448296663817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.979523055226309e-06, + "observation_loss": 4.747612365463283e-06, + "chamfer": 3.907512109435629e-06, + "track": 8.401000286539784e-07, + "acceleration": 2.3191070397388103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.172844339540461e-06, + "observation_loss": 4.9681070777296554e-06, + "chamfer": 4.075511242263019e-06, + "track": 8.925958923100552e-07, + "acceleration": 2.0473743234106223e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.347319529391825e-06, + "observation_loss": 4.930856903229142e-06, + "chamfer": 4.049145900353324e-06, + "track": 8.817111734060745e-07, + "acceleration": 4.1646285353635903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.262812919681892e-06, + "observation_loss": 4.893318418908166e-06, + "chamfer": 4.029569936392363e-06, + "track": 8.637484825158026e-07, + "acceleration": 3.694942734000506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.290738499752479e-06, + "observation_loss": 5.070366114523495e-06, + "chamfer": 4.179378720436944e-06, + "track": 8.909873372431321e-07, + "acceleration": 2.2037248470496706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.640817107632756e-06, + "observation_loss": 5.330671683623223e-06, + "chamfer": 4.38697361460072e-06, + "track": 9.436978984922462e-07, + "acceleration": 3.101455376963713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.873374448128743e-06, + "observation_loss": 5.639961273118388e-06, + "chamfer": 4.634598099073628e-06, + "track": 1.0053630603579222e-06, + "acceleration": 2.3341324606462877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.493920409411658e-06, + "observation_loss": 5.885612154088449e-06, + "chamfer": 4.822541995963547e-06, + "track": 1.0630703854985768e-06, + "acceleration": 6.083083121666277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.899021627759794e-06, + "observation_loss": 5.945164502918487e-06, + "chamfer": 4.869430085818749e-06, + "track": 1.0757343034129008e-06, + "acceleration": 9.538571248413064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.82005736255087e-06, + "observation_loss": 6.0030852182535455e-06, + "chamfer": 4.8972005970426835e-06, + "track": 1.1058847348976997e-06, + "acceleration": 1.8169724853578373e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.95551750343293e-06, + "observation_loss": 6.222371212061262e-06, + "chamfer": 5.042635166319087e-06, + "track": 1.1797360457421746e-06, + "acceleration": 1.7331462913716678e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.006741154531483e-06, + "observation_loss": 6.368413778545801e-06, + "chamfer": 5.154885457159253e-06, + "track": 1.2135285487602232e-06, + "acceleration": 1.6383274896725197e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.741051376797259e-06, + "observation_loss": 6.082507752580568e-06, + "chamfer": 4.94933419759036e-06, + "track": 1.1331737823638832e-06, + "acceleration": 1.6585440789640415e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.073845270293532e-06, + "observation_loss": 5.621917807729915e-06, + "chamfer": 4.5930087253509555e-06, + "track": 1.0289088550052838e-06, + "acceleration": 4.5192734887677943e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.849668923474383e-06, + "observation_loss": 5.488030637934571e-06, + "chamfer": 4.4867233555123676e-06, + "track": 1.0013072824222036e-06, + "acceleration": 3.6163825711810205e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.051105174265103e-06, + "observation_loss": 5.742013854614925e-06, + "chamfer": 4.669637291954132e-06, + "track": 1.0723765626607928e-06, + "acceleration": 3.0909137649359764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.064376066206023e-06, + "observation_loss": 5.946371857135091e-06, + "chamfer": 4.808909579878673e-06, + "track": 1.1374625046300935e-06, + "acceleration": 1.1800400301353875e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.22759262114414e-06, + "observation_loss": 6.134964678494725e-06, + "chamfer": 4.947201432514703e-06, + "track": 1.187763018606347e-06, + "acceleration": 9.262779343544025e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.348554506985238e-06, + "observation_loss": 6.2122589952195995e-06, + "chamfer": 5.002683792554308e-06, + "track": 1.2095753163521294e-06, + "acceleration": 1.3629569650674966e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.420137651730329e-06, + "observation_loss": 6.282787580857985e-06, + "chamfer": 5.054904704593355e-06, + "track": 1.2278826488909544e-06, + "acceleration": 1.373501845591818e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.642742846452165e-06, + "observation_loss": 6.429848781408509e-06, + "chamfer": 5.171175416762708e-06, + "track": 1.2586733646458015e-06, + "acceleration": 2.1289426399562217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1065301199269015e-06, + "observation_loss": 6.902825134602608e-06, + "chamfer": 5.527276243810775e-06, + "track": 1.3755488907918334e-06, + "acceleration": 2.0370480058318208e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.683200237806886e-06, + "observation_loss": 7.526074568886543e-06, + "chamfer": 5.966535809420748e-06, + "track": 1.559538759465795e-06, + "acceleration": 1.5712605261342105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.188972060452215e-06, + "observation_loss": 7.910652129794471e-06, + "chamfer": 6.244518317544134e-06, + "track": 1.6661335848766612e-06, + "acceleration": 2.783200159228727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.052023076743353e-06, + "observation_loss": 7.757998901070096e-06, + "chamfer": 6.144335657154443e-06, + "track": 1.613663584976166e-06, + "acceleration": 2.9402377776932553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.800663297530264e-06, + "observation_loss": 7.5242005550535396e-06, + "chamfer": 5.985139978292864e-06, + "track": 1.5390605767606758e-06, + "acceleration": 2.764630266938184e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.419869689329062e-06, + "observation_loss": 7.3172059273929335e-06, + "chamfer": 5.829505425936077e-06, + "track": 1.4877007288305322e-06, + "acceleration": 1.0266381167411964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.179693966463674e-06, + "observation_loss": 7.1315957939077634e-06, + "chamfer": 5.690108537237393e-06, + "track": 1.4414872566703707e-06, + "acceleration": 4.809803400007695e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.172086952778045e-06, + "observation_loss": 7.1113408921519294e-06, + "chamfer": 5.6706276154727675e-06, + "track": 1.4407133903659997e-06, + "acceleration": 6.074611036410715e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2329862632614095e-06, + "observation_loss": 7.147863470891025e-06, + "chamfer": 5.6881708587752655e-06, + "track": 1.4596924984289217e-06, + "acceleration": 8.512277105410249e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.262048256961862e-06, + "observation_loss": 7.214436209324049e-06, + "chamfer": 5.733949819841655e-06, + "track": 1.4804862757955561e-06, + "acceleration": 4.76121471137958e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4930931077688e-06, + "observation_loss": 7.289307177416049e-06, + "chamfer": 5.775653789896751e-06, + "track": 1.5136532738324604e-06, + "acceleration": 2.0378581666591344e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.877547432144638e-06, + "observation_loss": 7.364481916738441e-06, + "chamfer": 5.8337082009529695e-06, + "track": 1.530773602098634e-06, + "acceleration": 5.130653448759404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.564403287891764e-06, + "observation_loss": 7.504815584979951e-06, + "chamfer": 5.925719506194582e-06, + "track": 1.5790963061590446e-06, + "acceleration": 1.0595877029118128e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.187348950945307e-06, + "observation_loss": 7.660337359993719e-06, + "chamfer": 6.0476563703559805e-06, + "track": 1.6126805348903872e-06, + "acceleration": 1.5270112498910748e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.734602488402743e-06, + "observation_loss": 7.827913577784784e-06, + "chamfer": 6.1767677834723145e-06, + "track": 1.6511454532519565e-06, + "acceleration": 9.066888537745399e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.574571438657586e-06, + "observation_loss": 8.191413144231774e-06, + "chamfer": 6.440218839998124e-06, + "track": 1.7511947589810006e-06, + "acceleration": 3.831578965218796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.98926464287797e-06, + "observation_loss": 8.698137207829859e-06, + "chamfer": 6.787508027628064e-06, + "track": 1.9106289528281195e-06, + "acceleration": 2.911276340000768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.408818186784629e-06, + "observation_loss": 9.287662578572053e-06, + "chamfer": 7.188569270510925e-06, + "track": 2.099093535434804e-06, + "acceleration": 1.211558782188149e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.709931873658206e-06, + "observation_loss": 9.61565092438832e-06, + "chamfer": 7.411901151499478e-06, + "track": 2.2037495455151657e-06, + "acceleration": 9.428056557680975e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0130633199878503e-05, + "observation_loss": 9.842035979090724e-06, + "chamfer": 7.569592071376974e-06, + "track": 2.2724439077137504e-06, + "acceleration": 2.8859736289632565e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0238294635200873e-05, + "observation_loss": 1.0060197382699698e-05, + "chamfer": 7.69579582993174e-06, + "track": 2.3644010980206076e-06, + "acceleration": 1.7809719565775595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0293925697624218e-05, + "observation_loss": 1.0174085218750406e-05, + "chamfer": 7.762069799355231e-06, + "track": 2.4120151920214994e-06, + "acceleration": 1.1984008096987964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0405760804133024e-05, + "observation_loss": 1.0068233677884564e-05, + "chamfer": 7.691181963309646e-06, + "track": 2.3770512598275673e-06, + "acceleration": 3.3752704098333197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.062742194335442e-05, + "observation_loss": 9.790141120902263e-06, + "chamfer": 7.51873722037999e-06, + "track": 2.271403445774922e-06, + "acceleration": 8.372804813916446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0162391845369712e-05, + "observation_loss": 9.675543878984172e-06, + "chamfer": 7.436713076458545e-06, + "track": 2.238830575151951e-06, + "acceleration": 4.868481937592151e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.76554201770341e-06, + "observation_loss": 9.56795884121675e-06, + "chamfer": 7.359663413808448e-06, + "track": 2.2082956547819776e-06, + "acceleration": 1.975829064804202e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.582632628735155e-06, + "observation_loss": 9.351333574159071e-06, + "chamfer": 7.201836069725687e-06, + "track": 2.149497504433384e-06, + "acceleration": 2.312994951125802e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.844575288298074e-06, + "observation_loss": 9.19111062103184e-06, + "chamfer": 7.088188340276247e-06, + "track": 2.102922508129268e-06, + "acceleration": 6.534646104228159e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3559572835220024e-05, + "observation_loss": 9.263548236049246e-06, + "chamfer": 7.1062340794014744e-06, + "track": 2.157313929274096e-06, + "acceleration": 4.296024144423427e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1895157513208687e-05, + "observation_loss": 9.483242138230707e-06, + "chamfer": 7.2520074354542885e-06, + "track": 2.231234702776419e-06, + "acceleration": 2.4119156023516553e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0800588825077284e-05, + "observation_loss": 9.477771527599543e-06, + "chamfer": 7.258702225954039e-06, + "track": 2.219069756392855e-06, + "acceleration": 1.322817638538254e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0595909770927392e-05, + "observation_loss": 9.521082574792672e-06, + "chamfer": 7.2677121352171525e-06, + "track": 2.2533704395755194e-06, + "acceleration": 1.0748267413873691e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0240669325867202e-05, + "observation_loss": 9.582304301147815e-06, + "chamfer": 7.305454801098676e-06, + "track": 2.276849272675463e-06, + "acceleration": 6.583653089364816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0313397069694474e-05, + "observation_loss": 9.721720743982587e-06, + "chamfer": 7.38477501727175e-06, + "track": 2.336945499337162e-06, + "acceleration": 5.916758709645364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0280005881213583e-05, + "observation_loss": 9.86112718237564e-06, + "chamfer": 7.44869885238586e-06, + "track": 2.4124283299897797e-06, + "acceleration": 4.1887884094649053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.018343391478993e-05, + "observation_loss": 1.0068897609016858e-05, + "chamfer": 7.584079412481515e-06, + "track": 2.4848184239090187e-06, + "acceleration": 1.1453622050794365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0448160537634976e-05, + "observation_loss": 1.0367959475843236e-05, + "chamfer": 7.791980351612438e-06, + "track": 2.5759786694834474e-06, + "acceleration": 8.020112574058658e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0692015166569036e-05, + "observation_loss": 1.0581040442048106e-05, + "chamfer": 7.935201210784726e-06, + "track": 2.645839458637056e-06, + "acceleration": 1.109749021566131e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0773954272735864e-05, + "observation_loss": 1.0660823136277031e-05, + "chamfer": 7.975628250278533e-06, + "track": 2.685194658624823e-06, + "acceleration": 1.131315841007563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0875914995267522e-05, + "observation_loss": 1.0729574569268152e-05, + "chamfer": 8.01828718977049e-06, + "track": 2.7112869247503113e-06, + "acceleration": 1.4634015599312988e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0969445611408446e-05, + "observation_loss": 1.0817069778568111e-05, + "chamfer": 8.066346708801575e-06, + "track": 2.7507226150191855e-06, + "acceleration": 1.5237586126204405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0910815944953356e-05, + "observation_loss": 1.0827545338543132e-05, + "chamfer": 8.062499546213076e-06, + "track": 2.7650462470774073e-06, + "acceleration": 8.327022271714668e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1066380466218106e-05, + "observation_loss": 1.0814454071805812e-05, + "chamfer": 8.052148587012198e-06, + "track": 2.7623050300462637e-06, + "acceleration": 2.519267354728072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1022369108104613e-05, + "observation_loss": 1.0889417353610042e-05, + "chamfer": 8.09602533990983e-06, + "track": 2.793391786326538e-06, + "acceleration": 1.3295201028995507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1062459634558763e-05, + "observation_loss": 1.096382038667798e-05, + "chamfer": 8.129599336825777e-06, + "track": 2.8342205951048527e-06, + "acceleration": 9.863946104360366e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1110198101960123e-05, + "observation_loss": 1.102276291931048e-05, + "chamfer": 8.166095540218521e-06, + "track": 2.8566669243446086e-06, + "acceleration": 8.743508317365922e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.117806004913291e-05, + "observation_loss": 1.1099647963419557e-05, + "chamfer": 8.207531209336594e-06, + "track": 2.8921165267092874e-06, + "acceleration": 7.841186544510492e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1162898772454355e-05, + "observation_loss": 1.1057292795157991e-05, + "chamfer": 8.18537864688551e-06, + "track": 2.8719146030198317e-06, + "acceleration": 1.0560572150097869e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0999685400747694e-05, + "observation_loss": 1.0906316674663685e-05, + "chamfer": 8.089902621577494e-06, + "track": 2.816413825712516e-06, + "acceleration": 9.336854134289752e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.253569700874172e-06, + "chamfer_mean": 5.603887087109645e-06, + "track_mean": 1.5205598759375032e-06, + "acceleration_mean": 1.1291227127729897e-06, + "observation_score": 7.124447013969378e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4278845130011177 + }, + "score_arrays_file": "pass_scores/pass_end_0333.npz", + "score_arrays_sha256": "d5bf8380da14c97bc115cadc8f2bba3911c3f476980c503c47680a2c4ba257ce" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0334.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0334.json new file mode 100644 index 0000000000000000000000000000000000000000..2cfe9169dcff257956088078ec3c609a2e8a89be --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0334.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32064, + "completed_passes": 334, + "snapshot": "pass_end_0334", + "candidate": true, + "snapshot_arrays_sha256": "879ea31081e09b1f28f5f42c88d32b282390e01eba9fe3ceef60efa3c4476da9", + "score": 7.120099747718693e-06, + "score_result": { + "score": 7.120099747718693e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8730091798934154e-06, + 3.1539339033770375e-06, + 3.2400150757894153e-06, + 3.6754888697032584e-06, + 4.1975795284088235e-06, + 4.4220178097020835e-06, + 4.175095000391593e-06, + 4.014078513137065e-06, + 3.951483449782245e-06, + 4.045661171403481e-06, + 4.420994628162589e-06, + 4.875453669228591e-06, + 5.181524102226831e-06, + 5.38411859452026e-06, + 5.379459707910428e-06, + 5.269880603009369e-06, + 4.913179964205483e-06, + 4.527541477727937e-06, + 4.350883955339668e-06, + 4.347785306890728e-06, + 4.30567479270394e-06, + 4.167376118857646e-06, + 4.07572724725469e-06, + 4.0844975046638865e-06, + 4.13567522628e-06, + 4.350408289610641e-06, + 4.7455391722905915e-06, + 4.9637046686257236e-06, + 4.924830591335194e-06, + 4.888880539510865e-06, + 5.070381575933425e-06, + 5.332878117769724e-06, + 5.646304998663254e-06, + 5.8926343626808375e-06, + 5.95067012909567e-06, + 6.004873284837231e-06, + 6.2189119489630684e-06, + 6.367502464854624e-06, + 6.082471827539848e-06, + 5.620285264740232e-06, + 5.482404958456755e-06, + 5.7345005188835785e-06, + 5.9393446463218424e-06, + 6.129133907961659e-06, + 6.2076769609120674e-06, + 6.278549790295074e-06, + 6.4270961956935935e-06, + 6.901051619934151e-06, + 7.523734439018881e-06, + 7.907069630164187e-06, + 7.754834769002628e-06, + 7.521467978222063e-06, + 7.316223673115019e-06, + 7.1301456046057865e-06, + 7.109240868885536e-06, + 7.145548806875013e-06, + 7.2126949817175046e-06, + 7.288137567229569e-06, + 7.36450692784274e-06, + 7.505380381189752e-06, + 7.661198651476298e-06, + 7.830475624359678e-06, + 8.19626438897103e-06, + 8.705133041075896e-06, + 9.296637472289149e-06, + 9.625561688153539e-06, + 9.851979484665208e-06, + 1.007095579552697e-05, + 1.0185810424445663e-05, + 1.0078786544909235e-05, + 9.798040991881862e-06, + 9.680712537374347e-06, + 9.56930307438597e-06, + 9.349497304356191e-06, + 9.18388832360506e-06, + 9.252892596123274e-06, + 9.469265933148563e-06, + 9.46591990214074e-06, + 9.506144124316052e-06, + 9.565014806867111e-06, + 9.705394404591061e-06, + 9.844572559813969e-06, + 1.0051112440123688e-05, + 1.0349177500756923e-05, + 1.0561750059423503e-05, + 1.0642577763064764e-05, + 1.0710342394304462e-05, + 1.0797624781844206e-05, + 1.0807487342390232e-05, + 1.0794505215017125e-05, + 1.0868398021557368e-05, + 1.0942590051854495e-05, + 1.1001520761055872e-05, + 1.1078946045017801e-05, + 1.103676731872838e-05, + 1.0886169548030011e-05 + ] + ], + "episode_mean_losses": [ + 7.120099747718693e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8730091798934154e-06, + "observation_loss": 2.8730091798934154e-06, + "chamfer": 2.436855083942646e-06, + "track": 4.3615401068564097e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.153392728767358e-05, + "observation_loss": 3.1539339033770375e-06, + "chamfer": 2.667319904503529e-06, + "track": 4.866141125603463e-07, + "acceleration": 3.837999247480184e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3056032659951597e-05, + "observation_loss": 3.2400150757894153e-06, + "chamfer": 2.743779987213202e-06, + "track": 4.962350885762135e-07, + "acceleration": 1.9816017811535858e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0067162293125875e-05, + "observation_loss": 3.6754888697032584e-06, + "chamfer": 3.1000231501820963e-06, + "track": 5.754657195211621e-07, + "acceleration": 6.3916731960489415e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.7328502407472115e-06, + "observation_loss": 4.1975795284088235e-06, + "chamfer": 3.5209238831157563e-06, + "track": 6.766557589799049e-07, + "acceleration": 1.5352708260252257e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.508671620191308e-06, + "observation_loss": 4.4220178097020835e-06, + "chamfer": 3.699712578963954e-06, + "track": 7.223052307381295e-07, + "acceleration": 1.0866536968023865e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.8065380724438e-06, + "observation_loss": 4.175095000391593e-06, + "chamfer": 3.4981160297320457e-06, + "track": 6.769790275029663e-07, + "acceleration": 6.31443015208788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.594344318320509e-06, + "observation_loss": 4.014078513137065e-06, + "chamfer": 3.3688568237266736e-06, + "track": 6.452216325669724e-07, + "acceleration": 5.802657483400253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.428628017194569e-06, + "observation_loss": 3.951483449782245e-06, + "chamfer": 3.32130071001302e-06, + "track": 6.301827966126439e-07, + "acceleration": 4.77144681099162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.350224116933532e-06, + "observation_loss": 4.045661171403481e-06, + "chamfer": 3.3988753784797154e-06, + "track": 6.467856792369275e-07, + "acceleration": 3.045630592168891e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.5604733713844325e-06, + "observation_loss": 4.420994628162589e-06, + "chamfer": 3.7048498597869184e-06, + "track": 7.161447683756705e-07, + "acceleration": 1.3947875743269833e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.9669934014673345e-06, + "observation_loss": 4.875453669228591e-06, + "chamfer": 4.069996066391468e-06, + "track": 8.054574891502853e-07, + "acceleration": 9.153971092246138e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.278295247990172e-06, + "observation_loss": 5.181524102226831e-06, + "chamfer": 4.3217323764110915e-06, + "track": 8.59791498442064e-07, + "acceleration": 9.677111734163191e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.489608611242147e-06, + "observation_loss": 5.38411859452026e-06, + "chamfer": 4.494396762311226e-06, + "track": 8.897218890524528e-07, + "acceleration": 1.0549001672188751e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.439765573100885e-06, + "observation_loss": 5.379459707910428e-06, + "chamfer": 4.494519544095965e-06, + "track": 8.849403343447193e-07, + "acceleration": 6.030607835327828e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.392441380536184e-06, + "observation_loss": 5.269880603009369e-06, + "chamfer": 4.404937499202788e-06, + "track": 8.649432743368379e-07, + "acceleration": 1.225607917376692e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.115247404319234e-06, + "observation_loss": 4.913179964205483e-06, + "chamfer": 4.1122571019514e-06, + "track": 8.009226917238266e-07, + "acceleration": 2.020676106440078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.843942406296264e-06, + "observation_loss": 4.527541477727937e-06, + "chamfer": 3.793771384152933e-06, + "track": 7.33769923044747e-07, + "acceleration": 3.164007580380712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.517764409683878e-06, + "observation_loss": 4.350883955339668e-06, + "chamfer": 3.6442174859985244e-06, + "track": 7.066665830279817e-07, + "acceleration": 1.6688052539848286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.517517481872346e-06, + "observation_loss": 4.347785306890728e-06, + "chamfer": 3.637544295997941e-06, + "track": 7.102411814230436e-07, + "acceleration": 1.6973240235529374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.599067779054167e-06, + "observation_loss": 4.30567479270394e-06, + "chamfer": 3.6014357647218276e-06, + "track": 7.042391985123686e-07, + "acceleration": 2.933929295068083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.4766220526071265e-06, + "observation_loss": 4.167376118857646e-06, + "chamfer": 3.488254378680722e-06, + "track": 6.791217970203434e-07, + "acceleration": 3.092458769060613e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.685248768510064e-06, + "observation_loss": 4.07572724725469e-06, + "chamfer": 3.4177312500105472e-06, + "track": 6.579961109309806e-07, + "acceleration": 6.095213507251174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.967362201568903e-06, + "observation_loss": 4.0844975046638865e-06, + "chamfer": 3.420846041990444e-06, + "track": 6.636513489866047e-07, + "acceleration": 8.82864640061598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.81225288240239e-06, + "observation_loss": 4.13567522628e-06, + "chamfer": 3.446041091592633e-06, + "track": 6.896343620610423e-07, + "acceleration": 6.765778266526468e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.6678078433615156e-06, + "observation_loss": 4.350408289610641e-06, + "chamfer": 3.6054204883839702e-06, + "track": 7.449879149135086e-07, + "acceleration": 3.173997527028405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.969780547980918e-06, + "observation_loss": 4.7455391722905915e-06, + "chamfer": 3.905790435965173e-06, + "track": 8.397488500122563e-07, + "acceleration": 2.2424144674459967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.16574891662458e-06, + "observation_loss": 4.9637046686257236e-06, + "chamfer": 4.072005594935035e-06, + "track": 8.916988463170128e-07, + "acceleration": 2.0204420536629186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.346422767615877e-06, + "observation_loss": 4.924830591335194e-06, + "chamfer": 4.044196884933626e-06, + "track": 8.80633649558149e-07, + "acceleration": 4.215920910155546e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.267233518679859e-06, + "observation_loss": 4.888880539510865e-06, + "chamfer": 4.025896032544551e-06, + "track": 8.629843932794756e-07, + "acceleration": 3.7835317812096037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.293886260915315e-06, + "observation_loss": 5.070381575933425e-06, + "chamfer": 4.179269581072731e-06, + "track": 8.911118811738561e-07, + "acceleration": 2.2350452866248816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.642750238621375e-06, + "observation_loss": 5.332878117769724e-06, + "chamfer": 4.388390607346082e-06, + "track": 9.444875104236417e-07, + "acceleration": 3.098722913819074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.869719188922318e-06, + "observation_loss": 5.646304998663254e-06, + "chamfer": 4.639492544811219e-06, + "track": 1.0068125675388728e-06, + "acceleration": 2.2341403393966175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.470592325058533e-06, + "observation_loss": 5.8926343626808375e-06, + "chamfer": 4.828003511647694e-06, + "track": 1.0646306236594683e-06, + "acceleration": 5.779577918474388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.9200345933495555e-06, + "observation_loss": 5.95067012909567e-06, + "chamfer": 4.874033493251773e-06, + "track": 1.0766366358438972e-06, + "acceleration": 9.693644642538857e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.973527317517437e-06, + "observation_loss": 6.004873284837231e-06, + "chamfer": 4.899322902929271e-06, + "track": 1.1055504955947981e-06, + "acceleration": 1.9686538053065306e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.059253559622448e-06, + "observation_loss": 6.2189119489630684e-06, + "chamfer": 5.040643827669555e-06, + "track": 1.1782682349803508e-06, + "acceleration": 1.8403416106593795e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.140586942317896e-06, + "observation_loss": 6.367502464854624e-06, + "chamfer": 5.154354767000768e-06, + "track": 1.2131478115406935e-06, + "acceleration": 1.7730845911501092e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.962167728692293e-06, + "observation_loss": 6.082471827539848e-06, + "chamfer": 4.949338745063869e-06, + "track": 1.1331329687891412e-06, + "acceleration": 1.8796960148392827e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.138760454632575e-06, + "observation_loss": 5.620285264740232e-06, + "chamfer": 4.591811830323422e-06, + "track": 1.0284732070431346e-06, + "acceleration": 5.1847530357918e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.8609380175767e-06, + "observation_loss": 5.482404958456755e-06, + "chamfer": 4.482425083551789e-06, + "track": 9.999797612181283e-07, + "acceleration": 3.7853320122849254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.069796199881239e-06, + "observation_loss": 5.7345005188835785e-06, + "chamfer": 4.6637705963803455e-06, + "track": 1.0707296951295575e-06, + "acceleration": 3.3529585152791697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.068710717954673e-06, + "observation_loss": 5.9393446463218424e-06, + "chamfer": 4.803385763807455e-06, + "track": 1.1359587688275496e-06, + "acceleration": 1.2936615689795872e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2317926676769275e-06, + "observation_loss": 6.129133907961659e-06, + "chamfer": 4.94254709337838e-06, + "track": 1.1865867008964415e-06, + "acceleration": 1.0265869576642217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.35105880064657e-06, + "observation_loss": 6.2076769609120674e-06, + "chamfer": 4.999066732125357e-06, + "track": 1.208610115099873e-06, + "acceleration": 1.4338202447561343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.409436991816619e-06, + "observation_loss": 6.278549790295074e-06, + "chamfer": 5.051530024502426e-06, + "track": 1.227019879479485e-06, + "acceleration": 1.3088735784094752e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.638239483436337e-06, + "observation_loss": 6.4270961956935935e-06, + "chamfer": 5.168913048692048e-06, + "track": 1.2581833743752213e-06, + "acceleration": 2.1114317405590555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.103685675247107e-06, + "observation_loss": 6.901051619934151e-06, + "chamfer": 5.525804226635955e-06, + "track": 1.3752473932981957e-06, + "acceleration": 2.0263416899979347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.68164227338275e-06, + "observation_loss": 7.523734439018881e-06, + "chamfer": 5.96469044467085e-06, + "track": 1.5590439943480305e-06, + "acceleration": 1.579082464786552e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.184151738532819e-06, + "observation_loss": 7.907069630164187e-06, + "chamfer": 6.241862593014957e-06, + "track": 1.6652073782097432e-06, + "acceleration": 2.77081880994956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.05418130767066e-06, + "observation_loss": 7.754834769002628e-06, + "chamfer": 6.14201053394936e-06, + "track": 1.6128245761137805e-06, + "acceleration": 2.9934625445093843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.80037953518331e-06, + "observation_loss": 7.521467978222063e-06, + "chamfer": 5.98306542087812e-06, + "track": 1.5384026710307808e-06, + "acceleration": 2.7891189802176086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.42000202080817e-06, + "observation_loss": 7.316223673115019e-06, + "chamfer": 5.828698249388253e-06, + "track": 1.4875253100399277e-06, + "acceleration": 1.0377848269627066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.177739462349564e-06, + "observation_loss": 7.1301456046057865e-06, + "chamfer": 5.688907549483702e-06, + "track": 1.4412381688089226e-06, + "acceleration": 4.759365879181132e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.170776825660141e-06, + "observation_loss": 7.109240868885536e-06, + "chamfer": 5.668958237947663e-06, + "track": 1.440282403564197e-06, + "acceleration": 6.153605625058844e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2301104410144035e-06, + "observation_loss": 7.145548806875013e-06, + "chamfer": 5.6862882047425956e-06, + "track": 1.4592604884455795e-06, + "acceleration": 8.45616270339633e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.259887297550449e-06, + "observation_loss": 7.2126949817175046e-06, + "chamfer": 5.732479621656239e-06, + "track": 1.4802152463744278e-06, + "acceleration": 4.719236912364977e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.492888471460901e-06, + "observation_loss": 7.288137567229569e-06, + "chamfer": 5.774595592811238e-06, + "track": 1.5135420881051687e-06, + "acceleration": 2.0475081896620395e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.881613782956265e-06, + "observation_loss": 7.36450692784274e-06, + "chamfer": 5.833568593516247e-06, + "track": 1.530938220639655e-06, + "acceleration": 5.171069688003627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.571284524805378e-06, + "observation_loss": 7.505380381189752e-06, + "chamfer": 5.925963250774657e-06, + "track": 1.5794170167282573e-06, + "acceleration": 1.065904029928788e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.196680366585497e-06, + "observation_loss": 7.661198651476298e-06, + "chamfer": 6.0480606407509185e-06, + "track": 1.6131381244122167e-06, + "acceleration": 1.5354813740486861e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.742847967369016e-06, + "observation_loss": 7.830475624359678e-06, + "chamfer": 6.178499916131841e-06, + "track": 1.651975480854162e-06, + "acceleration": 9.123721724790812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.580658686696552e-06, + "observation_loss": 8.19626438897103e-06, + "chamfer": 6.443543043133104e-06, + "track": 1.7527214595247642e-06, + "acceleration": 3.8439404193013615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.99647693586303e-06, + "observation_loss": 8.705133041075896e-06, + "chamfer": 6.792055501136929e-06, + "track": 1.9130773125652922e-06, + "acceleration": 2.913439516305516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.417884029971901e-06, + "observation_loss": 9.296637472289149e-06, + "chamfer": 7.194484169303905e-06, + "track": 2.102153075611568e-06, + "acceleration": 1.2124613135711115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.720110938360449e-06, + "observation_loss": 9.625561688153539e-06, + "chamfer": 7.418415862048278e-06, + "track": 2.2071458261052612e-06, + "acceleration": 9.454958416199588e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0140617632714566e-05, + "observation_loss": 9.851979484665208e-06, + "chamfer": 7.5760099207400344e-06, + "track": 2.2759693365514977e-06, + "acceleration": 2.886381480493583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0249748811475001e-05, + "observation_loss": 1.007095579552697e-05, + "chamfer": 7.702898074057885e-06, + "track": 2.368057948842761e-06, + "acceleration": 1.7879347069538198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.03066904557636e-05, + "observation_loss": 1.0185810424445663e-05, + "chamfer": 7.770157026243396e-06, + "track": 2.415653170828591e-06, + "acceleration": 1.2088045764357958e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0419036698294804e-05, + "observation_loss": 1.0078786544909235e-05, + "chamfer": 7.698419722146355e-06, + "track": 2.3803668227628805e-06, + "acceleration": 3.402504376026627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0641166227287613e-05, + "observation_loss": 9.798040991881862e-06, + "chamfer": 7.524127340730047e-06, + "track": 2.273913878525491e-06, + "acceleration": 8.431255196228449e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0171012945647817e-05, + "observation_loss": 9.680712537374347e-06, + "chamfer": 7.440470199071569e-06, + "track": 2.2402425656764535e-06, + "acceleration": 4.903003514300508e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.767745723365806e-06, + "observation_loss": 9.56930307438597e-06, + "chamfer": 7.3605915531516075e-06, + "track": 2.208711293860688e-06, + "acceleration": 1.9844266319068993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.580912774254102e-06, + "observation_loss": 9.349497304356191e-06, + "chamfer": 7.200290383480024e-06, + "track": 2.1492066935024923e-06, + "acceleration": 2.314158820126977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.845128261076752e-06, + "observation_loss": 9.18388832360506e-06, + "chamfer": 7.08390143699944e-06, + "track": 2.0999868866056204e-06, + "acceleration": 6.612398806282727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3551332813221961e-05, + "observation_loss": 9.252892596123274e-06, + "chamfer": 7.099171853042208e-06, + "track": 2.1537205157073913e-06, + "acceleration": 4.298440217098687e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1838990758405998e-05, + "observation_loss": 9.469265933148563e-06, + "chamfer": 7.242587344080675e-06, + "track": 2.2266781343205366e-06, + "acceleration": 2.36972459788376e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0827142432390247e-05, + "observation_loss": 9.46591990214074e-06, + "chamfer": 7.250820090121124e-06, + "track": 2.215099584645941e-06, + "acceleration": 1.361222643936344e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0627109986671712e-05, + "observation_loss": 9.506144124316052e-06, + "chamfer": 7.257267043314641e-06, + "track": 2.2488773083750857e-06, + "acceleration": 1.1209656349819852e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0255343113385607e-05, + "observation_loss": 9.565014806867111e-06, + "chamfer": 7.293385351658799e-06, + "track": 2.271629682581988e-06, + "acceleration": 6.903279086145631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0319664397684392e-05, + "observation_loss": 9.705394404591061e-06, + "chamfer": 7.373898824880598e-06, + "track": 2.331495124963112e-06, + "acceleration": 6.142703909972624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0274788110109512e-05, + "observation_loss": 9.844572559813969e-06, + "chamfer": 7.437671229126863e-06, + "track": 2.4069011033134302e-06, + "acceleration": 4.3021566398238065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0168896551476792e-05, + "observation_loss": 1.0051112440123688e-05, + "chamfer": 7.572245522169396e-06, + "track": 2.4788671453279676e-06, + "acceleration": 1.1778378450344462e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0428079804114532e-05, + "observation_loss": 1.0349177500756923e-05, + "chamfer": 7.779390216455795e-06, + "track": 2.5697872843011282e-06, + "acceleration": 7.890185571568509e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0672465577954426e-05, + "observation_loss": 1.0561750059423503e-05, + "chamfer": 7.922343684185762e-06, + "track": 2.6394063752377406e-06, + "acceleration": 1.107153977386588e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0755123184935655e-05, + "observation_loss": 1.0642577763064764e-05, + "chamfer": 7.963634743646253e-06, + "track": 2.678942792044836e-06, + "acceleration": 1.125457913531136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0857506822503638e-05, + "observation_loss": 1.0710342394304462e-05, + "chamfer": 8.005823474377394e-06, + "track": 2.704518919927068e-06, + "acceleration": 1.4716432872319274e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0950524483632762e-05, + "observation_loss": 1.0797624781844206e-05, + "chamfer": 8.053675628616475e-06, + "track": 2.743948925854056e-06, + "acceleration": 1.52900042849069e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0892146747210063e-05, + "observation_loss": 1.0807487342390232e-05, + "chamfer": 8.049491043493617e-06, + "track": 2.7579962988966145e-06, + "acceleration": 8.465967482607084e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.10476530608139e-05, + "observation_loss": 1.0794505215017125e-05, + "chamfer": 8.039127351366915e-06, + "track": 2.75537786365021e-06, + "acceleration": 2.531481584355788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.1002399332937784e-05, + "observation_loss": 1.0868398021557368e-05, + "chamfer": 8.082233762252145e-06, + "track": 2.7861640319315484e-06, + "acceleration": 1.3400129716956144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1042188816645648e-05, + "observation_loss": 1.0942590051854495e-05, + "chamfer": 8.115799573715776e-06, + "track": 2.8267904781387188e-06, + "acceleration": 9.959838820350342e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.108896958612604e-05, + "observation_loss": 1.1001520761055872e-05, + "chamfer": 8.152380360115785e-06, + "track": 2.8491401735664112e-06, + "acceleration": 8.744851243136509e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1157025255670305e-05, + "observation_loss": 1.1078946045017801e-05, + "chamfer": 8.194465408450924e-06, + "track": 2.8844810913142283e-06, + "acceleration": 7.807945223703427e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1142175026179757e-05, + "observation_loss": 1.103676731872838e-05, + "chamfer": 8.172314664989244e-06, + "track": 2.8644526537391357e-06, + "acceleration": 1.0540728112573561e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0979142643918749e-05, + "observation_loss": 1.0886169548030011e-05, + "chamfer": 8.076995982264634e-06, + "track": 2.809174020512728e-06, + "acceleration": 9.29730106236093e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.258499647695317e-06, + "chamfer_mean": 5.6008483800458935e-06, + "track_mean": 1.5192513513895278e-06, + "acceleration_mean": 1.1383999066009547e-06, + "observation_score": 7.120099747718693e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.416265220999776 + }, + "score_arrays_file": "pass_scores/pass_end_0334.npz", + "score_arrays_sha256": "7e6bc6cde2beeb9e70fecc345e225aa3e8ff9436c0951fcda1a99e9652cf8a3c" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0335.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0335.json new file mode 100644 index 0000000000000000000000000000000000000000..5444f5e3c4ecee8683d48043c40d1f290172ddb5 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0335.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32160, + "completed_passes": 335, + "snapshot": "pass_end_0335", + "candidate": true, + "snapshot_arrays_sha256": "871060de4c3f30c98be3d27b3a11fa37a4900d21c0cbc7de7e7f37ed912b9de8", + "score": 7.116738037401167e-06, + "score_result": { + "score": 7.116738037401167e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.873177209039568e-06, + 3.1537929316982627e-06, + 3.2387158626079326e-06, + 3.674162599054398e-06, + 4.196494955976959e-06, + 4.42144164480851e-06, + 4.17447245126823e-06, + 4.0125178202288225e-06, + 3.9493179428973235e-06, + 4.042842647322686e-06, + 4.417987838678528e-06, + 4.871693363384111e-06, + 5.177591447136365e-06, + 5.379802132665645e-06, + 5.37499772690353e-06, + 5.265664640319301e-06, + 4.909171366307419e-06, + 4.523523784882855e-06, + 4.34740150012658e-06, + 4.344866738392739e-06, + 4.302818524593022e-06, + 4.162914592598099e-06, + 4.070083832630189e-06, + 4.079714472027263e-06, + 4.133185029786546e-06, + 4.350095423433231e-06, + 4.744472789752763e-06, + 4.960151727573248e-06, + 4.919896127830725e-06, + 4.885698217549361e-06, + 5.0710996220004745e-06, + 5.335655714588938e-06, + 5.652984782500425e-06, + 5.900057203689357e-06, + 5.957630037300987e-06, + 6.0080674302298576e-06, + 6.217381269379985e-06, + 6.369821676344145e-06, + 6.084462711442029e-06, + 5.619822786684381e-06, + 5.478651473822538e-06, + 5.728436008212157e-06, + 5.932418389420491e-06, + 6.124691481090849e-06, + 6.203560587891843e-06, + 6.273490726016462e-06, + 6.4231830947392154e-06, + 6.896234481246211e-06, + 7.517508493037894e-06, + 7.900078344391659e-06, + 7.750377335469238e-06, + 7.517377071053488e-06, + 7.3120909291901626e-06, + 7.126780019461876e-06, + 7.106437351467321e-06, + 7.142229151213542e-06, + 7.209390332718613e-06, + 7.2859202191466466e-06, + 7.362447831837926e-06, + 7.503890628868248e-06, + 7.660632036277093e-06, + 7.830925824237056e-06, + 8.19741308077937e-06, + 8.70691474119667e-06, + 9.299050361732952e-06, + 9.629093256080523e-06, + 9.856227734417189e-06, + 1.0076189937535673e-05, + 1.0192188710789196e-05, + 1.0085228495881893e-05, + 9.804111869016197e-06, + 9.684852557256818e-06, + 9.569976100465283e-06, + 9.347792001790367e-06, + 9.178498658002354e-06, + 9.247768502973486e-06, + 9.463271453569178e-06, + 9.462252819503192e-06, + 9.500340638624039e-06, + 9.556612894812133e-06, + 9.697219866211526e-06, + 9.836441677180119e-06, + 1.0041425412055105e-05, + 1.0338181709812488e-05, + 1.0549335456744302e-05, + 1.063041781890206e-05, + 1.0697308425733354e-05, + 1.0784708138089627e-05, + 1.0794176887429785e-05, + 1.0781396667880472e-05, + 1.085479925677646e-05, + 1.092939328373177e-05, + 1.0988318535964936e-05, + 1.1065882063121535e-05, + 1.1023805200238712e-05, + 1.0873854989768006e-05 + ] + ], + "episode_mean_losses": [ + 7.116738037401167e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.873177209039568e-06, + "observation_loss": 2.873177209039568e-06, + "chamfer": 2.4369830953219207e-06, + "track": 4.3619419898277556e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.154011912760325e-05, + "observation_loss": 3.1537929316982627e-06, + "chamfer": 2.667195758476737e-06, + "track": 4.86597059534688e-07, + "acceleration": 3.8386326195904985e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.305108864675276e-05, + "observation_loss": 3.2387158626079326e-06, + "chamfer": 2.742699734881171e-06, + "track": 4.960161845701805e-07, + "acceleration": 1.9812372556771152e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0064710295409895e-05, + "observation_loss": 3.674162599054398e-06, + "chamfer": 3.0989137940196088e-06, + "track": 5.752487481913704e-07, + "acceleration": 6.390548151102848e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.726692961616209e-06, + "observation_loss": 4.196494955976959e-06, + "chamfer": 3.5200052934669657e-06, + "track": 6.764898898836691e-07, + "acceleration": 1.5301981193260872e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.507239166036015e-06, + "observation_loss": 4.42144164480851e-06, + "chamfer": 3.6991930301155662e-06, + "track": 7.222487283797818e-07, + "acceleration": 1.085797521227505e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.804637228517095e-06, + "observation_loss": 4.17447245126823e-06, + "chamfer": 3.4975382732227445e-06, + "track": 6.769341212020663e-07, + "acceleration": 6.301646635620273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.594922302203486e-06, + "observation_loss": 4.0125178202288225e-06, + "chamfer": 3.367504859852488e-06, + "track": 6.450130740631721e-07, + "acceleration": 5.824046525049198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.427010935614817e-06, + "observation_loss": 3.9493179428973235e-06, + "chamfer": 3.3194569368788507e-06, + "track": 6.298607786447974e-07, + "acceleration": 4.776931632477499e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.3471104618220124e-06, + "observation_loss": 4.042842647322686e-06, + "chamfer": 3.3965109196287813e-06, + "track": 6.463318982241617e-07, + "acceleration": 3.042677860776166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.557924512482714e-06, + "observation_loss": 4.417987838678528e-06, + "chamfer": 3.7023705772298854e-06, + "track": 7.156174888223177e-07, + "acceleration": 1.3993654590649385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.963314950146014e-06, + "observation_loss": 4.871693363384111e-06, + "chamfer": 4.06692424803623e-06, + "track": 8.047692858781375e-07, + "acceleration": 9.162176439758696e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.274704562907573e-06, + "observation_loss": 5.177591447136365e-06, + "chamfer": 4.318544597481377e-06, + "track": 8.590469064984063e-07, + "acceleration": 9.711326498518247e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.485530436999397e-06, + "observation_loss": 5.379802132665645e-06, + "chamfer": 4.490882474783575e-06, + "track": 8.889194305083947e-07, + "acceleration": 1.0572845354772653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.435382263385691e-06, + "observation_loss": 5.37499772690353e-06, + "chamfer": 4.490888386499137e-06, + "track": 8.841092267175554e-07, + "acceleration": 6.038464306357127e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.388544195739087e-06, + "observation_loss": 5.265664640319301e-06, + "chamfer": 4.401502792461542e-06, + "track": 8.641617341709207e-07, + "acceleration": 1.2287954120893119e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.111583504913142e-06, + "observation_loss": 4.909171366307419e-06, + "chamfer": 4.108975190320052e-06, + "track": 8.0019600545711e-07, + "acceleration": 2.0241220965999673e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.841075224248925e-06, + "observation_loss": 4.523523784882855e-06, + "chamfer": 3.790469691011822e-06, + "track": 7.33054037027614e-07, + "acceleration": 3.175514962094894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.51475443696836e-06, + "observation_loss": 4.34740150012658e-06, + "chamfer": 3.64131165042636e-06, + "track": 7.060900202304765e-07, + "acceleration": 1.673530931611822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.512765372055583e-06, + "observation_loss": 4.344866738392739e-06, + "chamfer": 3.635100938481628e-06, + "track": 7.097658567545295e-07, + "acceleration": 1.6789878998224594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.597007773554651e-06, + "observation_loss": 4.302818524593022e-06, + "chamfer": 3.5990337892144453e-06, + "track": 7.037845648483199e-07, + "acceleration": 2.9418936264846707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.476937647268642e-06, + "observation_loss": 4.162914592598099e-06, + "chamfer": 3.484557282718015e-06, + "track": 6.783574235669221e-07, + "acceleration": 3.1402313993567077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.6870695769030135e-06, + "observation_loss": 4.070083832630189e-06, + "chamfer": 3.4130493986594956e-06, + "track": 6.570342634404369e-07, + "acceleration": 6.169858011162432e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.9574523472983856e-06, + "observation_loss": 4.079714472027263e-06, + "chamfer": 3.4168115234933794e-06, + "track": 6.629027780036267e-07, + "acceleration": 8.777379889579606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.807998720934847e-06, + "observation_loss": 4.133185029786546e-06, + "chamfer": 3.443893092480721e-06, + "track": 6.892918236189871e-07, + "acceleration": 6.748136343048827e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.668289875553455e-06, + "observation_loss": 4.350095423433231e-06, + "chamfer": 3.605036226872471e-06, + "track": 7.4505919656076e-07, + "acceleration": 3.1819448054193344e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.964506388205336e-06, + "observation_loss": 4.744472789752763e-06, + "chamfer": 3.904894128936576e-06, + "track": 8.395788313464436e-07, + "acceleration": 2.2003349897659064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.1610832088044845e-06, + "observation_loss": 4.960151727573248e-06, + "chamfer": 4.06920207751682e-06, + "track": 8.909496500564273e-07, + "acceleration": 2.0093166597234813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3466533245227765e-06, + "observation_loss": 4.919896127830725e-06, + "chamfer": 4.040140083816368e-06, + "track": 8.797562713880325e-07, + "acceleration": 4.2675708300521364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.270700057735667e-06, + "observation_loss": 4.885698217549361e-06, + "chamfer": 4.02322757508955e-06, + "track": 8.624704719295551e-07, + "acceleration": 3.8500184018630534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.298184532875894e-06, + "observation_loss": 5.0710996220004745e-06, + "chamfer": 4.179722509434214e-06, + "track": 8.913772830965172e-07, + "acceleration": 2.2708491087541915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.650241291732527e-06, + "observation_loss": 5.335655714588938e-06, + "chamfer": 4.390286903799279e-06, + "track": 9.45368640259403e-07, + "acceleration": 3.145854634567513e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.886055078008212e-06, + "observation_loss": 5.652984782500425e-06, + "chamfer": 4.64461254523485e-06, + "track": 1.008372123578738e-06, + "acceleration": 2.3307006813411135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.495500201708637e-06, + "observation_loss": 5.900057203689357e-06, + "chamfer": 4.833753791899653e-06, + "track": 1.0663032981028664e-06, + "acceleration": 5.954428274890233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.966390174056869e-06, + "observation_loss": 5.957630037300987e-06, + "chamfer": 4.879594143858412e-06, + "track": 1.0780357797557372e-06, + "acceleration": 1.0087602504427196e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 8.087137757684104e-06, + "observation_loss": 6.0080674302298576e-06, + "chamfer": 4.902333330392139e-06, + "track": 1.1057342135245563e-06, + "acceleration": 2.079070100080571e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.221479220082983e-06, + "observation_loss": 6.217381269379985e-06, + "chamfer": 5.040053565608105e-06, + "track": 1.1773278174587176e-06, + "acceleration": 2.004097495955648e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.25077404442709e-06, + "observation_loss": 6.369821676344145e-06, + "chamfer": 5.156241968506947e-06, + "track": 1.213579707837198e-06, + "acceleration": 1.8809521407092689e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.177666131814476e-06, + "observation_loss": 6.084462711442029e-06, + "chamfer": 4.950849870510865e-06, + "track": 1.1336127272443264e-06, + "acceleration": 2.0932031929987716e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.2608955886389595e-06, + "observation_loss": 5.619822786684381e-06, + "chamfer": 4.591412562149344e-06, + "track": 1.0284102245350368e-06, + "acceleration": 6.41072631424322e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.8518162404652685e-06, + "observation_loss": 5.478651473822538e-06, + "chamfer": 4.4795142457587644e-06, + "track": 9.99137000690098e-07, + "acceleration": 3.731649655946967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.101534836489009e-06, + "observation_loss": 5.728436008212157e-06, + "chamfer": 4.659018031816231e-06, + "track": 1.0694179763959255e-06, + "acceleration": 3.7309891354198044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.080426828702912e-06, + "observation_loss": 5.932418389420491e-06, + "chamfer": 4.7979569899325725e-06, + "track": 1.1344616268615937e-06, + "acceleration": 1.4800865244524175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.235795808606781e-06, + "observation_loss": 6.124691481090849e-06, + "chamfer": 4.938937763654394e-06, + "track": 1.185753831123293e-06, + "acceleration": 1.1110420672366672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.362496606016066e-06, + "observation_loss": 6.203560587891843e-06, + "chamfer": 4.995722974854289e-06, + "track": 1.2078376130375545e-06, + "acceleration": 1.5893591864823975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.401369319064543e-06, + "observation_loss": 6.273490726016462e-06, + "chamfer": 5.047517788625555e-06, + "track": 1.2259727100172313e-06, + "acceleration": 1.2787837988526007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.634215878875693e-06, + "observation_loss": 6.4231830947392154e-06, + "chamfer": 5.165757556824246e-06, + "track": 1.2574256516018067e-06, + "acceleration": 2.1103276992562314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.099858521542046e-06, + "observation_loss": 6.896234481246211e-06, + "chamfer": 5.522080300579546e-06, + "track": 1.3741539532929892e-06, + "acceleration": 2.0362422503694688e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.675694178033154e-06, + "observation_loss": 7.517508493037894e-06, + "chamfer": 5.960065209364984e-06, + "track": 1.5574435110465856e-06, + "acceleration": 1.5818584131466196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.174491995305289e-06, + "observation_loss": 7.900078344391659e-06, + "chamfer": 6.236802619241644e-06, + "track": 1.6632757251500152e-06, + "acceleration": 2.744132245879882e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.045322829275392e-06, + "observation_loss": 7.750377335469238e-06, + "chamfer": 6.13883003097726e-06, + "track": 1.6115474181788159e-06, + "acceleration": 2.9494557907128183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.796356840117369e-06, + "observation_loss": 7.517377071053488e-06, + "chamfer": 5.980077730782796e-06, + "track": 1.5372992265838548e-06, + "acceleration": 2.789801953895221e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.41581607144326e-06, + "observation_loss": 7.3120909291901626e-06, + "chamfer": 5.825576408824418e-06, + "track": 1.4865147477394203e-06, + "acceleration": 1.0372501435540471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.174211532401387e-06, + "observation_loss": 7.126780019461876e-06, + "chamfer": 5.686324129783316e-06, + "track": 1.440456003365398e-06, + "acceleration": 4.743136372553636e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.167319381551351e-06, + "observation_loss": 7.106437351467321e-06, + "chamfer": 5.666913693858078e-06, + "track": 1.439523657609243e-06, + "acceleration": 6.088185244834676e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.225522040243959e-06, + "observation_loss": 7.142229151213542e-06, + "chamfer": 5.683760264219018e-06, + "track": 1.4584686596208485e-06, + "acceleration": 8.329268297302406e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.2559687396278605e-06, + "observation_loss": 7.209390332718613e-06, + "chamfer": 5.729920758312801e-06, + "track": 1.479469460718974e-06, + "acceleration": 4.6578566781363406e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4904437497025356e-06, + "observation_loss": 7.2859202191466466e-06, + "chamfer": 5.772869826614624e-06, + "track": 1.5130506199056981e-06, + "acceleration": 2.0452360161016259e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.882050340413116e-06, + "observation_loss": 7.362447831837926e-06, + "chamfer": 5.832018814544426e-06, + "track": 1.5304291309803375e-06, + "acceleration": 5.19602849635703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.574990715715103e-06, + "observation_loss": 7.503890628868248e-06, + "chamfer": 5.924881861574249e-06, + "track": 1.5790086536071612e-06, + "acceleration": 1.0710999731600168e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.203408808389213e-06, + "observation_loss": 7.660632036277093e-06, + "chamfer": 6.047631359251682e-06, + "track": 1.6130009043990867e-06, + "acceleration": 1.5427766584252822e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.747604624659289e-06, + "observation_loss": 7.830925824237056e-06, + "chamfer": 6.178879630169831e-06, + "track": 1.6520464214409003e-06, + "acceleration": 9.16679027795908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.584234819863923e-06, + "observation_loss": 8.19741308077937e-06, + "chamfer": 6.444350674428279e-06, + "track": 1.7530622926642536e-06, + "acceleration": 3.8682219383190386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 8.999818419397343e-06, + "observation_loss": 8.70691474119667e-06, + "chamfer": 6.793274678784655e-06, + "track": 1.9136398350383388e-06, + "acceleration": 2.9290407610460534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.420660717296414e-06, + "observation_loss": 9.299050361732952e-06, + "chamfer": 7.196208116511116e-06, + "track": 2.1028426999691874e-06, + "acceleration": 1.2161025608747877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.724073606776074e-06, + "observation_loss": 9.629093256080523e-06, + "chamfer": 7.420926522172522e-06, + "track": 2.2081667339080013e-06, + "acceleration": 9.498018016529386e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0144912266696338e-05, + "observation_loss": 9.856227734417189e-06, + "chamfer": 7.578999884572113e-06, + "track": 2.2772276224714005e-06, + "acceleration": 2.8868458912256756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0255656889057718e-05, + "observation_loss": 1.0076189937535673e-05, + "chamfer": 7.706631549808662e-06, + "track": 2.36955793297966e-06, + "acceleration": 1.7946668151580525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.031351803248981e-05, + "observation_loss": 1.0192188710789196e-05, + "chamfer": 7.77486820879858e-06, + "track": 2.4173200472432654e-06, + "acceleration": 1.213289095858272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.042613439494744e-05, + "observation_loss": 1.0085228495881893e-05, + "chamfer": 7.703079972998239e-06, + "track": 2.382148295509978e-06, + "acceleration": 3.4090632539118815e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.065101969288662e-05, + "observation_loss": 9.804111869016197e-06, + "chamfer": 7.528504283982329e-06, + "track": 2.2756075850338675e-06, + "acceleration": 8.469077670270053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0178046977671329e-05, + "observation_loss": 9.684852557256818e-06, + "chamfer": 7.443552021868527e-06, + "track": 2.2413007627619663e-06, + "acceleration": 4.931947614750243e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.768974450707901e-06, + "observation_loss": 9.569976100465283e-06, + "chamfer": 7.361112693615723e-06, + "track": 2.208863179475884e-06, + "acceleration": 1.989980091821053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.580258847563528e-06, + "observation_loss": 9.347792001790367e-06, + "chamfer": 7.198907496785978e-06, + "track": 2.1488842776307138e-06, + "acceleration": 2.3246724367709248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.847207365965005e-06, + "observation_loss": 9.178498658002354e-06, + "chamfer": 7.0804994720674586e-06, + "track": 2.0979987311875448e-06, + "acceleration": 6.687087648060697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3537246559280902e-05, + "observation_loss": 9.247768502973486e-06, + "chamfer": 7.095809905877104e-06, + "track": 2.1519583697227063e-06, + "acceleration": 4.289478056307416e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1799524145317264e-05, + "observation_loss": 9.463271453569178e-06, + "chamfer": 7.238435046019731e-06, + "track": 2.224836180175771e-06, + "acceleration": 2.3362522370007355e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0852543709916063e-05, + "observation_loss": 9.462252819503192e-06, + "chamfer": 7.248349447763758e-06, + "track": 2.2139031443657586e-06, + "acceleration": 1.3902911177865462e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0662174645403866e-05, + "observation_loss": 9.500340638624039e-06, + "chamfer": 7.253139756357996e-06, + "track": 2.2472006548923673e-06, + "acceleration": 1.1618337794061517e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0275237400492188e-05, + "observation_loss": 9.556612894812133e-06, + "chamfer": 7.287452262971783e-06, + "track": 2.2691608592140255e-06, + "acceleration": 7.18624278306379e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0331061275792308e-05, + "observation_loss": 9.697219866211526e-06, + "chamfer": 7.3683540904312395e-06, + "track": 2.3288662305276375e-06, + "acceleration": 6.338412390505255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0277390174451284e-05, + "observation_loss": 9.836441677180119e-06, + "chamfer": 7.432208349200664e-06, + "track": 2.4042331006057793e-06, + "acceleration": 4.409486393797124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0162424587178975e-05, + "observation_loss": 1.0041425412055105e-05, + "chamfer": 7.565853138657985e-06, + "track": 2.4755722733971197e-06, + "acceleration": 1.2099927459985338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0416773875476792e-05, + "observation_loss": 1.0338181709812488e-05, + "chamfer": 7.772003300487995e-06, + "track": 2.5661784093244933e-06, + "acceleration": 7.859225092943234e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0659382496669423e-05, + "observation_loss": 1.0549335456744302e-05, + "chamfer": 7.914136403996963e-06, + "track": 2.6351992801210145e-06, + "acceleration": 1.1004693334371041e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0742352969828062e-05, + "observation_loss": 1.063041781890206e-05, + "chamfer": 7.955742148624267e-06, + "track": 2.6746758976514684e-06, + "acceleration": 1.1193527882369381e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0845374163181987e-05, + "observation_loss": 1.0697308425733354e-05, + "chamfer": 7.997493412403855e-06, + "track": 2.699815240703174e-06, + "acceleration": 1.4806549586410256e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0938008927041665e-05, + "observation_loss": 1.0784708138089627e-05, + "chamfer": 8.045240974752232e-06, + "track": 2.739466935963719e-06, + "acceleration": 1.533005189457981e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0880487934628036e-05, + "observation_loss": 1.0794176887429785e-05, + "chamfer": 8.040885404625442e-06, + "track": 2.753291482804343e-06, + "acceleration": 8.631074166487451e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.1036533578590024e-05, + "observation_loss": 1.0781396667880472e-05, + "chamfer": 8.030581739149056e-06, + "track": 2.7508149287314154e-06, + "acceleration": 2.551366549141676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0989091606461443e-05, + "observation_loss": 1.085479925677646e-05, + "chamfer": 8.073366188909858e-06, + "track": 2.78143261311925e-06, + "acceleration": 1.3429277601062495e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1029402230633423e-05, + "observation_loss": 1.092939328373177e-05, + "chamfer": 8.1072957982542e-06, + "track": 2.8220974854775704e-06, + "acceleration": 1.0000875505511431e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1075671864091419e-05, + "observation_loss": 1.0988318535964936e-05, + "chamfer": 8.143952982209157e-06, + "track": 2.8443657811294543e-06, + "acceleration": 8.735373313584205e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1144142263219692e-05, + "observation_loss": 1.1065882063121535e-05, + "chamfer": 8.18629177956609e-06, + "track": 2.8795902835554443e-06, + "acceleration": 7.82599869353362e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.113008056563558e-05, + "observation_loss": 1.1023805200238712e-05, + "chamfer": 8.164151950040832e-06, + "track": 2.8596534775715554e-06, + "acceleration": 1.0627549329456087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0967120033456013e-05, + "observation_loss": 1.0873854989768006e-05, + "chamfer": 8.069188879744615e-06, + "track": 2.804666337397066e-06, + "acceleration": 9.326510053142556e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.265599667822698e-06, + "chamfer_mean": 5.5984748451957484e-06, + "track_mean": 1.518263179474862e-06, + "acceleration_mean": 1.148861632827014e-06, + "observation_score": 7.116738037401167e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4302136109999992 + }, + "score_arrays_file": "pass_scores/pass_end_0335.npz", + "score_arrays_sha256": "5b65281c9187a9f58e2ad2b2431a0ad890dc0a86cde8a1c7f5572248ade55b95" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0336.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0336.json new file mode 100644 index 0000000000000000000000000000000000000000..74e4897dca585ef4e4e7b8e51166a04c8d01269f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0336.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32256, + "completed_passes": 336, + "snapshot": "pass_end_0336", + "candidate": true, + "snapshot_arrays_sha256": "7d4f21e5090358281fa48d59f4afb7a5b1eb6cafeefc73b56115eae3b345835e", + "score": 7.1114127422333695e-06, + "score_result": { + "score": 7.1114127422333695e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8733345516229747e-06, + 3.153682882839348e-06, + 3.237622422602726e-06, + 3.6731814816448605e-06, + 4.19630532633164e-06, + 4.421907760843169e-06, + 4.1749776755750645e-06, + 4.012220415461343e-06, + 3.948398898501182e-06, + 4.041171450808179e-06, + 4.416116098582279e-06, + 4.869951226282865e-06, + 5.176018476049649e-06, + 5.377792604122078e-06, + 5.372944997361628e-06, + 5.263509137876099e-06, + 4.906723006570246e-06, + 4.5205524656921625e-06, + 4.344687567936489e-06, + 4.34325647802325e-06, + 4.301871285861125e-06, + 4.16061175201321e-06, + 4.065787834406365e-06, + 4.075282959092874e-06, + 4.129964054300217e-06, + 4.3476306927914266e-06, + 4.740703843708616e-06, + 4.953325969836442e-06, + 4.912087661068654e-06, + 4.87952638650313e-06, + 5.069427061243914e-06, + 5.336191861715633e-06, + 5.658204827341251e-06, + 5.906447768211365e-06, + 5.962439445283962e-06, + 6.008818672853522e-06, + 6.212540029082447e-06, + 6.367125024553388e-06, + 6.08358595854952e-06, + 5.6179937928391155e-06, + 5.474789304571459e-06, + 5.72277940591448e-06, + 5.925283403485082e-06, + 6.119923455116805e-06, + 6.199392828420969e-06, + 6.267977369134314e-06, + 6.4189293880190235e-06, + 6.890620625199517e-06, + 7.510376235586591e-06, + 7.892079338489566e-06, + 7.74492491473211e-06, + 7.513164746342227e-06, + 7.309176908165682e-06, + 7.124068815755891e-06, + 7.104310043359874e-06, + 7.141093192331027e-06, + 7.208146598713938e-06, + 7.285273568413686e-06, + 7.3626501944090705e-06, + 7.505110261263326e-06, + 7.662176358280703e-06, + 7.833577910787426e-06, + 8.202780918509234e-06, + 8.714082468941342e-06, + 9.30767782847397e-06, + 9.638369192543905e-06, + 9.865278116194531e-06, + 1.0087018381454982e-05, + 1.0203574674960691e-05, + 1.0095433935930487e-05, + 9.811518793867435e-06, + 9.688780664873775e-06, + 9.569652320351452e-06, + 9.343721103505231e-06, + 9.169065378955565e-06, + 9.235329343937337e-06, + 9.446899639442563e-06, + 9.44746716413647e-06, + 9.482255336479284e-06, + 9.536259312881157e-06, + 9.67728192335926e-06, + 9.817699719860684e-06, + 1.002196495392127e-05, + 1.0317218766431324e-05, + 1.0527121048653498e-05, + 1.0608660886646248e-05, + 1.0675471457943786e-05, + 1.0760653822217137e-05, + 1.0770433618745301e-05, + 1.075821364793228e-05, + 1.082966809917707e-05, + 1.090442128770519e-05, + 1.096344021789264e-05, + 1.10408818727592e-05, + 1.0998766811098903e-05, + 1.0848813872144092e-05 + ] + ], + "episode_mean_losses": [ + 7.1114127422333695e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8733345516229747e-06, + "observation_loss": 2.8733345516229747e-06, + "chamfer": 2.4371029212488793e-06, + "track": 4.3623165879580483e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.154683483648114e-05, + "observation_loss": 3.153682882839348e-06, + "chamfer": 2.6670995794120245e-06, + "track": 4.865832465839048e-07, + "acceleration": 3.839315104414709e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3046213755151257e-05, + "observation_loss": 3.237622422602726e-06, + "chamfer": 2.7417904675530735e-06, + "track": 4.958318982062337e-07, + "acceleration": 1.980859087780118e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0062205547001213e-05, + "observation_loss": 3.6731814816448605e-06, + "chamfer": 3.0980845622252673e-06, + "track": 5.750968625761743e-07, + "acceleration": 6.389024292730028e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.721990419260692e-06, + "observation_loss": 4.19630532633164e-06, + "chamfer": 3.519800884532742e-06, + "track": 6.765043849554786e-07, + "acceleration": 1.5256849792422145e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.508577487489674e-06, + "observation_loss": 4.421907760843169e-06, + "chamfer": 3.699499757203739e-06, + "track": 7.224078331091732e-07, + "acceleration": 1.086669840333343e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.804159289051313e-06, + "observation_loss": 4.1749776755750645e-06, + "chamfer": 3.4978600069734966e-06, + "track": 6.771175549147301e-07, + "acceleration": 6.291816134762485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.59657621831866e-06, + "observation_loss": 4.012220415461343e-06, + "chamfer": 3.367158569744788e-06, + "track": 6.450620162468113e-07, + "acceleration": 5.843557460138982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.427045951160835e-06, + "observation_loss": 3.948398898501182e-06, + "chamfer": 3.318606104585342e-06, + "track": 6.297926802290021e-07, + "acceleration": 4.786472231899097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.3457403080537915e-06, + "observation_loss": 4.041171450808179e-06, + "chamfer": 3.39507391799998e-06, + "track": 6.460977033384552e-07, + "acceleration": 3.0456891408903175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.55659892395488e-06, + "observation_loss": 4.416116098582279e-06, + "chamfer": 3.700792831295985e-06, + "track": 7.153230399126187e-07, + "acceleration": 1.404828111617462e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.961451395502081e-06, + "observation_loss": 4.869951226282865e-06, + "chamfer": 4.065453595103463e-06, + "track": 8.044975174925639e-07, + "acceleration": 9.150017632464369e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.273740953271044e-06, + "observation_loss": 5.176018476049649e-06, + "chamfer": 4.317211278248578e-06, + "track": 8.588073683313269e-07, + "acceleration": 9.772250564310525e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.483526820171392e-06, + "observation_loss": 5.377792604122078e-06, + "chamfer": 4.4891990000905935e-06, + "track": 8.885934903446469e-07, + "acceleration": 1.0573433684157862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.433388196252054e-06, + "observation_loss": 5.372944997361628e-06, + "chamfer": 4.4892071855429094e-06, + "track": 8.837378118187189e-07, + "acceleration": 6.044341915867335e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.386238626670092e-06, + "observation_loss": 5.263509137876099e-06, + "chamfer": 4.399740646476857e-06, + "track": 8.637686619294982e-07, + "acceleration": 1.2272947458313865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.108980985824019e-06, + "observation_loss": 4.906723006570246e-06, + "chamfer": 4.106956112082116e-06, + "track": 7.997671218618052e-07, + "acceleration": 2.0225792241035379e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.838893801206723e-06, + "observation_loss": 4.5205524656921625e-06, + "chamfer": 3.788014510064386e-06, + "track": 7.325380124711955e-07, + "acceleration": 3.183413923579792e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.512528448685771e-06, + "observation_loss": 4.344687567936489e-06, + "chamfer": 3.6390272271091817e-06, + "track": 7.056603408273077e-07, + "acceleration": 1.6784100864697393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.509168775257422e-06, + "observation_loss": 4.34325647802325e-06, + "chamfer": 3.63372214451374e-06, + "track": 7.095342766660906e-07, + "acceleration": 1.6591226881246257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.596850885718595e-06, + "observation_loss": 4.301871285861125e-06, + "chamfer": 3.5981777273264015e-06, + "track": 7.036935016913048e-07, + "acceleration": 2.9497974196601717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.479683866520645e-06, + "observation_loss": 4.16061175201321e-06, + "chamfer": 3.482614602035028e-06, + "track": 6.779972068216011e-07, + "acceleration": 3.190719439771783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.684578925662208e-06, + "observation_loss": 4.065787834406365e-06, + "chamfer": 3.409464397918782e-06, + "track": 6.563235501744202e-07, + "acceleration": 6.187912617861002e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.942186023981776e-06, + "observation_loss": 4.075282959092874e-06, + "chamfer": 3.4130571293644607e-06, + "track": 6.622259434152511e-07, + "acceleration": 8.669031217323209e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.799655471288133e-06, + "observation_loss": 4.129964054300217e-06, + "chamfer": 3.4411170872772345e-06, + "track": 6.88847137553239e-07, + "acceleration": 6.696913033010787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.665504093281925e-06, + "observation_loss": 4.3476306927914266e-06, + "chamfer": 3.6028418435307685e-06, + "track": 7.44788849260658e-07, + "acceleration": 3.1787340049049817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.9574564400245436e-06, + "observation_loss": 4.740703843708616e-06, + "chamfer": 3.901783657056512e-06, + "track": 8.38919959278428e-07, + "acceleration": 2.167525110507995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.1528722906368785e-06, + "observation_loss": 4.953325969836442e-06, + "chamfer": 4.063751475769095e-06, + "track": 8.89574380380509e-07, + "acceleration": 1.9954642027641967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3426801969180815e-06, + "observation_loss": 4.912087661068654e-06, + "chamfer": 4.0337504287890624e-06, + "track": 8.783372322795913e-07, + "acceleration": 4.305924505842995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.273172519082436e-06, + "observation_loss": 4.87952638650313e-06, + "chamfer": 4.018114395876182e-06, + "track": 8.614119337835291e-07, + "acceleration": 3.93645990470759e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.302043518895516e-06, + "observation_loss": 5.069427061243914e-06, + "chamfer": 4.1782341213547625e-06, + "track": 8.911927125154762e-07, + "acceleration": 2.3261665660356812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.649480044667143e-06, + "observation_loss": 5.336191861715633e-06, + "chamfer": 4.39032328358735e-06, + "track": 9.458688055019593e-07, + "acceleration": 3.132882113732194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.877207513549365e-06, + "observation_loss": 5.658204827341251e-06, + "chamfer": 4.6486388782795984e-06, + "track": 1.0095660627484904e-06, + "acceleration": 2.190028425275159e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.4658397604944184e-06, + "observation_loss": 5.906447768211365e-06, + "chamfer": 4.838636868953472e-06, + "track": 1.0678110129447305e-06, + "acceleration": 5.593919354396348e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.9821608121856116e-06, + "observation_loss": 5.962439445283962e-06, + "chamfer": 4.883645033260109e-06, + "track": 1.0787944120238535e-06, + "acceleration": 1.0197212532148114e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 8.222076758102048e-06, + "observation_loss": 6.008818672853522e-06, + "chamfer": 4.903731678496115e-06, + "track": 1.1050871080442448e-06, + "acceleration": 2.213258085248526e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.285071089630947e-06, + "observation_loss": 6.212540029082447e-06, + "chamfer": 5.037131359131308e-06, + "track": 1.1754088973248145e-06, + "acceleration": 2.0725306058011483e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.393274583795574e-06, + "observation_loss": 6.367125024553388e-06, + "chamfer": 5.154487098479876e-06, + "track": 1.2126381534471875e-06, + "acceleration": 2.0261493318685098e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.45521117298631e-06, + "observation_loss": 6.08358595854952e-06, + "chamfer": 4.950260972691467e-06, + "track": 1.133324985858053e-06, + "acceleration": 2.3716254418104654e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.377359113685088e-06, + "observation_loss": 5.6179937928391155e-06, + "chamfer": 4.589991931425175e-06, + "track": 1.028001747727103e-06, + "acceleration": 7.593654345328105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.877325747860596e-06, + "observation_loss": 5.474789304571459e-06, + "chamfer": 4.476613867154811e-06, + "track": 9.981755511034862e-07, + "acceleration": 4.025363580240082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.163466423458885e-06, + "observation_loss": 5.72277940591448e-06, + "chamfer": 4.654619260691106e-06, + "track": 1.0681600315365358e-06, + "acceleration": 4.4068684701414895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.120563739386853e-06, + "observation_loss": 5.925283403485082e-06, + "chamfer": 4.792376785189845e-06, + "track": 1.1329068456689129e-06, + "acceleration": 1.9528043537775375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.260740974539658e-06, + "observation_loss": 6.119923455116805e-06, + "chamfer": 4.9350351218890864e-06, + "track": 1.1848881058540428e-06, + "acceleration": 1.408174625794345e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.39868994767312e-06, + "observation_loss": 6.199392828420969e-06, + "chamfer": 4.9923387450689916e-06, + "track": 1.2070539696651394e-06, + "acceleration": 1.9929690608933015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.40455346001545e-06, + "observation_loss": 6.267977369134314e-06, + "chamfer": 5.043059900344815e-06, + "track": 1.2249172414158238e-06, + "acceleration": 1.3657596298344288e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.6421575866115745e-06, + "observation_loss": 6.4189293880190235e-06, + "chamfer": 5.162215984455543e-06, + "track": 1.2567134035634808e-06, + "acceleration": 2.2322825543596991e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.104612905095564e-06, + "observation_loss": 6.890620625199517e-06, + "chamfer": 5.517601493920665e-06, + "track": 1.373019131278852e-06, + "acceleration": 2.1399236516117526e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.67708206694806e-06, + "observation_loss": 7.510376235586591e-06, + "chamfer": 5.954637799732154e-06, + "track": 1.5557383221675991e-06, + "acceleration": 1.6670583136146888e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.16042120277416e-06, + "observation_loss": 7.892079338489566e-06, + "chamfer": 6.230927283468191e-06, + "track": 1.6611521687082131e-06, + "acceleration": 2.683418642845936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.028919182834215e-06, + "observation_loss": 7.74492491473211e-06, + "chamfer": 6.134825071058003e-06, + "track": 1.6101001847346197e-06, + "acceleration": 2.839945523192e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.791182724758983e-06, + "observation_loss": 7.513164746342227e-06, + "chamfer": 5.976826741971308e-06, + "track": 1.536338231744594e-06, + "acceleration": 2.7801792157333693e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.411904789478285e-06, + "observation_loss": 7.309176908165682e-06, + "chamfer": 5.823228548251791e-06, + "track": 1.4859485872875666e-06, + "acceleration": 1.0272768946606448e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.172619916673284e-06, + "observation_loss": 7.124068815755891e-06, + "chamfer": 5.684104053216288e-06, + "track": 1.4399648762264405e-06, + "acceleration": 4.855095525613251e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1663698690827005e-06, + "observation_loss": 7.104310043359874e-06, + "chamfer": 5.665121079800883e-06, + "track": 1.4391889635589905e-06, + "acceleration": 6.205995362051908e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.224953606055351e-06, + "observation_loss": 7.141093192331027e-06, + "chamfer": 5.682719347532839e-06, + "track": 1.4583739584850264e-06, + "acceleration": 8.386037819718695e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.255367563629989e-06, + "observation_loss": 7.208146598713938e-06, + "chamfer": 5.728851647290867e-06, + "track": 1.4792948377362336e-06, + "acceleration": 4.722110347188391e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4899635364999995e-06, + "observation_loss": 7.285273568413686e-06, + "chamfer": 5.772139047621749e-06, + "track": 1.5131346344787744e-06, + "acceleration": 2.0468979755605687e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.884967089921702e-06, + "observation_loss": 7.3626501944090705e-06, + "chamfer": 5.831985163240461e-06, + "track": 1.5306649174817721e-06, + "acceleration": 5.223166681389557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.58126804814674e-06, + "observation_loss": 7.505110261263326e-06, + "chamfer": 5.925573532294948e-06, + "track": 1.5795365015947027e-06, + "acceleration": 1.0761577868834138e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.214276360580698e-06, + "observation_loss": 7.662176358280703e-06, + "chamfer": 6.048504928912735e-06, + "track": 1.6136710883074556e-06, + "acceleration": 1.552100115986832e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.75813657330582e-06, + "observation_loss": 7.833577910787426e-06, + "chamfer": 6.180569926073076e-06, + "track": 1.6530084394617006e-06, + "acceleration": 9.245588330486498e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.594314749643672e-06, + "observation_loss": 8.202780918509234e-06, + "chamfer": 6.448000476666493e-06, + "track": 1.7547801007822272e-06, + "acceleration": 3.9153422903837054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.00970189832151e-06, + "observation_loss": 8.714082468941342e-06, + "chamfer": 6.797845344408415e-06, + "track": 1.9162373519066023e-06, + "acceleration": 2.956196283321333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.429783858649898e-06, + "observation_loss": 9.30767782847397e-06, + "chamfer": 7.201734206319088e-06, + "track": 2.1059438495285576e-06, + "acceleration": 1.2210593069994502e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.733996193972416e-06, + "observation_loss": 9.638369192543905e-06, + "chamfer": 7.426832780765835e-06, + "track": 2.21153641177807e-06, + "acceleration": 9.562724301304115e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0154763913305942e-05, + "observation_loss": 9.865278116194531e-06, + "chamfer": 7.5845769060833845e-06, + "track": 2.2807016648584977e-06, + "acceleration": 2.8948559815944463e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0267284778819885e-05, + "observation_loss": 1.0087018381454982e-05, + "chamfer": 7.71368377172621e-06, + "track": 2.3733348371024476e-06, + "acceleration": 1.802662552563561e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0325965376978274e-05, + "observation_loss": 1.0203574674960691e-05, + "chamfer": 7.78249614086235e-06, + "track": 2.4210783067246666e-06, + "acceleration": 1.2239090096954897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.043828251567902e-05, + "observation_loss": 1.0095433935930487e-05, + "chamfer": 7.709866622462869e-06, + "track": 2.3855675408412935e-06, + "acceleration": 3.4284826710972993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.066311051545199e-05, + "observation_loss": 9.811518793867435e-06, + "chamfer": 7.533514235547045e-06, + "track": 2.2780047856940655e-06, + "acceleration": 8.515916647411359e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0185626706515905e-05, + "observation_loss": 9.688780664873775e-06, + "chamfer": 7.446317795256618e-06, + "track": 2.2424628696171567e-06, + "acceleration": 4.968458711118728e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.769126336323097e-06, + "observation_loss": 9.569652320351452e-06, + "chamfer": 7.360822564805858e-06, + "track": 2.2088299829192692e-06, + "acceleration": 1.99474101236774e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.575001058692578e-06, + "observation_loss": 9.343721103505231e-06, + "chamfer": 7.1957765612751245e-06, + "track": 2.1479443148564314e-06, + "acceleration": 2.3128016835016751e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.84569669526536e-06, + "observation_loss": 9.169065378955565e-06, + "chamfer": 7.074585937516531e-06, + "track": 2.0944798961863853e-06, + "acceleration": 6.766313731532136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3507013136404566e-05, + "observation_loss": 9.235329343937337e-06, + "chamfer": 7.087805897754151e-06, + "track": 2.147523446183186e-06, + "acceleration": 4.271683337719878e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1755111700040288e-05, + "observation_loss": 9.446899639442563e-06, + "chamfer": 7.227467449411051e-06, + "track": 2.2194321900315117e-06, + "acceleration": 2.3082122879714007e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0875193765969016e-05, + "observation_loss": 9.44746716413647e-06, + "chamfer": 7.238387297547888e-06, + "track": 2.2090803213359322e-06, + "acceleration": 1.4277264881457086e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0695617675082758e-05, + "observation_loss": 9.482255336479284e-06, + "chamfer": 7.240607828862267e-06, + "track": 2.2416477349906927e-06, + "acceleration": 1.213362452290312e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0285968528478406e-05, + "observation_loss": 9.536259312881157e-06, + "chamfer": 7.2732996159174945e-06, + "track": 2.262959469589987e-06, + "acceleration": 7.49709045066993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0326033589080907e-05, + "observation_loss": 9.67728192335926e-06, + "chamfer": 7.3548358159314375e-06, + "track": 2.3224461074278224e-06, + "acceleration": 6.487520067821606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.026477366394829e-05, + "observation_loss": 9.817699719860684e-06, + "chamfer": 7.419517260132125e-06, + "track": 2.3981824597285595e-06, + "acceleration": 4.4707388724418706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0145792657567654e-05, + "observation_loss": 1.002196495392127e-05, + "chamfer": 7.552709575975314e-06, + "track": 2.469255377945956e-06, + "acceleration": 1.2382814418288035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0394856872153468e-05, + "observation_loss": 1.0317218766431324e-05, + "chamfer": 7.757730600133073e-06, + "track": 2.559488393671927e-06, + "acceleration": 7.763782150504994e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0636045772116631e-05, + "observation_loss": 1.0527121048653498e-05, + "chamfer": 7.899167940195184e-06, + "track": 2.627952653710963e-06, + "acceleration": 1.089249366259537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0720237696659751e-05, + "observation_loss": 1.0608660886646248e-05, + "chamfer": 7.94123570813099e-06, + "track": 2.6674249511415837e-06, + "acceleration": 1.1157674606465662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0825413482962176e-05, + "observation_loss": 1.0675471457943786e-05, + "chamfer": 7.983346222317778e-06, + "track": 2.6921252356260084e-06, + "acceleration": 1.4994172659044125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0915069651673548e-05, + "observation_loss": 1.0760653822217137e-05, + "chamfer": 8.02927570475731e-06, + "track": 2.731378572207177e-06, + "acceleration": 1.5441551681760757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0860277143365238e-05, + "observation_loss": 1.0770433618745301e-05, + "chamfer": 8.025473107409198e-06, + "track": 2.7449607387097785e-06, + "acceleration": 8.984326171912471e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.101733050745679e-05, + "observation_loss": 1.075821364793228e-05, + "chamfer": 8.015495950530749e-06, + "track": 2.7427179247752065e-06, + "acceleration": 2.591171437416051e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0965783076244406e-05, + "observation_loss": 1.082966809917707e-05, + "chamfer": 8.056766091613099e-06, + "track": 2.772902007563971e-06, + "acceleration": 1.3611490601306286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.1005689884768799e-05, + "observation_loss": 1.090442128770519e-05, + "chamfer": 8.090913979685865e-06, + "track": 2.8135068532719743e-06, + "acceleration": 1.0126848337677075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1051180990762077e-05, + "observation_loss": 1.096344021789264e-05, + "chamfer": 8.127798537316266e-06, + "track": 2.8356421353237238e-06, + "acceleration": 8.7740694709737e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1119262126157992e-05, + "observation_loss": 1.10408818727592e-05, + "chamfer": 8.170381988747977e-06, + "track": 2.8705001113848994e-06, + "acceleration": 7.837988391656836e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1105249541287776e-05, + "observation_loss": 1.0998766811098903e-05, + "chamfer": 8.148185770551208e-06, + "track": 2.850581040547695e-06, + "acceleration": 1.0648244597177836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0942228982457891e-05, + "observation_loss": 1.0848813872144092e-05, + "chamfer": 8.05309355200734e-06, + "track": 2.795720320136752e-06, + "acceleration": 9.341475504243135e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.271853007594624e-06, + "chamfer_mean": 5.5947352066709755e-06, + "track_mean": 1.516677573161947e-06, + "acceleration_mean": 1.160440239974155e-06, + "observation_score": 7.1114127422333695e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4151024080001662 + }, + "score_arrays_file": "pass_scores/pass_end_0336.npz", + "score_arrays_sha256": "2d41b222cc5bbcca5cd86e4ecda51c7bffea5e94807e9848d4d9af16a0ae4592" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0337.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0337.json new file mode 100644 index 0000000000000000000000000000000000000000..e99d3408cdd21266c9064326048ffc5758e298b7 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0337.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32352, + "completed_passes": 337, + "snapshot": "pass_end_0337", + "candidate": true, + "snapshot_arrays_sha256": "944321f3fefb8f48482f89933996cb089f75a90b8e9f7758f545501717ef0840", + "score": 7.106091407157085e-06, + "score_result": { + "score": 7.106091407157085e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.873473704312346e-06, + 3.1535482776234858e-06, + 3.2364980597776594e-06, + 3.6720530260936357e-06, + 4.195586370769888e-06, + 4.422097390488489e-06, + 4.175223693891894e-06, + 4.011254077340709e-06, + 3.946694050682709e-06, + 4.038585302623687e-06, + 4.413476290210383e-06, + 4.867059942625929e-06, + 5.172954388399376e-06, + 5.3743824537377805e-06, + 5.369417976908153e-06, + 5.260389116301667e-06, + 4.903383796772687e-06, + 4.516792614595033e-06, + 4.3411941987869795e-06, + 4.3408335841377266e-06, + 4.300090040487703e-06, + 4.157196599408053e-06, + 4.0603936213301495e-06, + 4.070142040291103e-06, + 4.12648751080269e-06, + 4.3455802369862795e-06, + 4.737745712191099e-06, + 4.946653461956885e-06, + 4.903939043288119e-06, + 4.872994395554997e-06, + 5.067708571004914e-06, + 5.336674348654924e-06, + 5.663609954353888e-06, + 5.913985205552308e-06, + 5.967679953755578e-06, + 6.009955995978089e-06, + 6.209099865372991e-06, + 6.363050488289446e-06, + 6.085404947953066e-06, + 5.618950581265381e-06, + 5.470890755532309e-06, + 5.718642569263466e-06, + 5.917922408116283e-06, + 6.110959475336131e-06, + 6.192693490447709e-06, + 6.263347131607588e-06, + 6.414677045540884e-06, + 6.887722520332318e-06, + 7.5073539846926e-06, + 7.888143954914995e-06, + 7.743450623820536e-06, + 7.514478511438938e-06, + 7.309672582778148e-06, + 7.1237050178751815e-06, + 7.103258667484624e-06, + 7.139084118534811e-06, + 7.20513116903021e-06, + 7.281775651790667e-06, + 7.360388281085761e-06, + 7.50360413803719e-06, + 7.661486051802058e-06, + 7.83432915341109e-06, + 8.206254278775305e-06, + 8.718890967429616e-06, + 9.313733244198374e-06, + 9.644712918088771e-06, + 9.870794201560784e-06, + 1.0094241588376462e-05, + 1.0211142580374144e-05, + 1.0102314263349399e-05, + 9.816188139666338e-06, + 9.690154911368154e-06, + 9.566597327648196e-06, + 9.337635674455669e-06, + 9.15775126486551e-06, + 9.222108928952366e-06, + 9.429637430002913e-06, + 9.432480510440655e-06, + 9.464192771702074e-06, + 9.516520549368579e-06, + 9.65753679338377e-06, + 9.799840881896671e-06, + 1.0003905117628165e-05, + 1.0298183042323217e-05, + 1.0506618309591431e-05, + 1.0588322766125202e-05, + 1.0655411642801482e-05, + 1.0738156561274081e-05, + 1.074933425115887e-05, + 1.0737373486335855e-05, + 1.0808249498950318e-05, + 1.088352200895315e-05, + 1.0942445442196913e-05, + 1.1019931662303861e-05, + 1.0977662896038964e-05, + 1.0827970982063562e-05 + ] + ], + "episode_mean_losses": [ + 7.106091407157085e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.873473704312346e-06, + "observation_loss": 2.873473704312346e-06, + "chamfer": 2.4372070583922323e-06, + "track": 4.362665890766948e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.155480201006867e-05, + "observation_loss": 3.1535482776234858e-06, + "chamfer": 2.666980890353443e-06, + "track": 4.86567273583205e-07, + "acceleration": 3.840125282295048e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.303950532223098e-05, + "observation_loss": 3.2364980597776594e-06, + "chamfer": 2.740853005889221e-06, + "track": 4.956449970450194e-07, + "acceleration": 1.9803006580332294e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.005966987577267e-05, + "observation_loss": 3.6720530260936357e-06, + "chamfer": 3.0971357318776427e-06, + "track": 5.749172373725742e-07, + "acceleration": 6.387616394931683e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.716607120120898e-06, + "observation_loss": 4.195586370769888e-06, + "chamfer": 3.519170377330738e-06, + "track": 6.764160502825689e-07, + "acceleration": 1.5210208630378474e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.509051788976649e-06, + "observation_loss": 4.422097390488489e-06, + "chamfer": 3.6995882055634866e-06, + "track": 7.225090712381643e-07, + "acceleration": 1.0869542848013225e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.803773663297761e-06, + "observation_loss": 4.175223693891894e-06, + "chamfer": 3.4979716474481393e-06, + "track": 6.772522738174303e-07, + "acceleration": 6.28550026249286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.598134182742797e-06, + "observation_loss": 4.011254077340709e-06, + "chamfer": 3.3662688565527787e-06, + "track": 6.449850502576737e-07, + "acceleration": 5.868798780284123e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.425308816280449e-06, + "observation_loss": 3.946694050682709e-06, + "chamfer": 3.3171129416587064e-06, + "track": 6.295813363976777e-07, + "acceleration": 4.78614822441159e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.342897227616049e-06, + "observation_loss": 4.038585302623687e-06, + "chamfer": 3.3928863558685407e-06, + "track": 6.456990604419843e-07, + "acceleration": 3.043121523660375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.554518000077223e-06, + "observation_loss": 4.413476290210383e-06, + "chamfer": 3.698592308865045e-06, + "track": 7.148838108150812e-07, + "acceleration": 1.4104179513196868e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.958667886967305e-06, + "observation_loss": 4.867059942625929e-06, + "chamfer": 4.063063897774555e-06, + "track": 8.039960448513739e-07, + "acceleration": 9.160780933825663e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.271223017189186e-06, + "observation_loss": 5.172954388399376e-06, + "chamfer": 4.3146874304511584e-06, + "track": 8.582669579482172e-07, + "acceleration": 9.826862878981046e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.480590516526718e-06, + "observation_loss": 5.3743824537377805e-06, + "chamfer": 4.486386842472712e-06, + "track": 8.879953838913934e-07, + "acceleration": 1.062080201563731e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.429864813777385e-06, + "observation_loss": 5.369417976908153e-06, + "chamfer": 4.486314537643921e-06, + "track": 8.831034392642323e-07, + "acceleration": 6.044693634521536e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.383162260841345e-06, + "observation_loss": 5.260389116301667e-06, + "chamfer": 4.397189059091033e-06, + "track": 8.631999435237958e-07, + "acceleration": 1.2277310190711432e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.10545214638114e-06, + "observation_loss": 4.903383796772687e-06, + "chamfer": 4.1042039811145514e-06, + "track": 7.991796451278788e-07, + "acceleration": 2.0206857698212843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.836328571400372e-06, + "observation_loss": 4.516792614595033e-06, + "chamfer": 3.784903356063296e-06, + "track": 7.318891448448994e-07, + "acceleration": 3.195360704921768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.509960945142666e-06, + "observation_loss": 4.3411941987869795e-06, + "chamfer": 3.636098199422122e-06, + "track": 7.050961698951141e-07, + "acceleration": 1.687667179339769e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.504562184592942e-06, + "observation_loss": 4.3408335841377266e-06, + "chamfer": 3.631673735071672e-06, + "track": 7.09159621692379e-07, + "acceleration": 1.6372854361179634e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.596554390445817e-06, + "observation_loss": 4.300090040487703e-06, + "chamfer": 3.596639089664677e-06, + "track": 7.034507234493503e-07, + "acceleration": 2.9646426469298603e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.482050826482009e-06, + "observation_loss": 4.157196599408053e-06, + "chamfer": 3.47976083503454e-06, + "track": 6.774355369998375e-07, + "acceleration": 3.2485436918250343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.6955851757957134e-06, + "observation_loss": 4.0603936213301495e-06, + "chamfer": 3.4049614896503044e-06, + "track": 6.554320179930073e-07, + "acceleration": 6.351913839353074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.943324711348396e-06, + "observation_loss": 4.070142040291103e-06, + "chamfer": 3.408715883779223e-06, + "track": 6.614261565118795e-07, + "acceleration": 8.731827847441309e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.796578195964685e-06, + "observation_loss": 4.12648751080269e-06, + "chamfer": 3.4381150726403575e-06, + "track": 6.883724381623324e-07, + "acceleration": 6.700906283185759e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.663259005610598e-06, + "observation_loss": 4.3455802369862795e-06, + "chamfer": 3.6009848827234237e-06, + "track": 7.445951837325993e-07, + "acceleration": 3.1767856967235275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.951822575094411e-06, + "observation_loss": 4.737745712191099e-06, + "chamfer": 3.8993398447928485e-06, + "track": 8.384058673982508e-07, + "acceleration": 2.1407697659014957e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.145996510691475e-06, + "observation_loss": 4.946653461956885e-06, + "chamfer": 4.0584350244898815e-06, + "track": 8.88218551153841e-07, + "acceleration": 1.993429492586074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3381859288492706e-06, + "observation_loss": 4.903939043288119e-06, + "chamfer": 4.027096565550892e-06, + "track": 8.768423640503897e-07, + "acceleration": 4.342469708262797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.277946911519393e-06, + "observation_loss": 4.872994395554997e-06, + "chamfer": 4.0127142710844055e-06, + "track": 8.602798970969161e-07, + "acceleration": 4.049524022775586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.308737854647916e-06, + "observation_loss": 5.067708571004914e-06, + "chamfer": 4.1767198126763105e-06, + "track": 8.909887014851847e-07, + "acceleration": 2.4102905626932625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6452377066307236e-06, + "observation_loss": 5.336674348654924e-06, + "chamfer": 4.390312824398279e-06, + "track": 9.463613537263882e-07, + "acceleration": 3.0856332955409016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.85972748012864e-06, + "observation_loss": 5.663609954353888e-06, + "chamfer": 4.652817551686894e-06, + "track": 1.0107926300406689e-06, + "acceleration": 1.961173268227867e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.4258301790687256e-06, + "observation_loss": 5.913985205552308e-06, + "chamfer": 4.844335762754781e-06, + "track": 1.069649329110689e-06, + "acceleration": 5.118452008900931e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.007822205196135e-06, + "observation_loss": 5.967679953755578e-06, + "chamfer": 4.888045168627286e-06, + "track": 1.079634671441454e-06, + "acceleration": 1.040142137753719e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 8.335199709108565e-06, + "observation_loss": 6.009955995978089e-06, + "chamfer": 4.905449259240413e-06, + "track": 1.1045068504245137e-06, + "acceleration": 2.3252434857568005e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.214609806600492e-06, + "observation_loss": 6.209099865372991e-06, + "chamfer": 5.035294179833727e-06, + "track": 1.1738056855392642e-06, + "acceleration": 2.0055099412275013e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.557967703382019e-06, + "observation_loss": 6.363050488289446e-06, + "chamfer": 5.151882305653999e-06, + "track": 1.2111679552617716e-06, + "acceleration": 2.1949174424662488e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.756516763241962e-06, + "observation_loss": 6.085404947953066e-06, + "chamfer": 4.951827577315271e-06, + "track": 1.1335774843246327e-06, + "acceleration": 2.6711115879152203e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.459148607973475e-06, + "observation_loss": 5.618950581265381e-06, + "chamfer": 4.590767275658436e-06, + "track": 1.0281833056069445e-06, + "acceleration": 8.40197799334419e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.960279850114603e-06, + "observation_loss": 5.470890755532309e-06, + "chamfer": 4.4737103053194005e-06, + "track": 9.971802228392335e-07, + "acceleration": 4.893892651125498e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.277524789766176e-06, + "observation_loss": 5.718642569263466e-06, + "chamfer": 4.6513864617736544e-06, + "track": 1.067256221176649e-06, + "acceleration": 5.588821068158722e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.21380831944407e-06, + "observation_loss": 5.917922408116283e-06, + "chamfer": 4.786568297276972e-06, + "track": 1.131354110839311e-06, + "acceleration": 2.958860534363339e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.309393029368948e-06, + "observation_loss": 6.110959475336131e-06, + "chamfer": 4.928052476316225e-06, + "track": 1.182906999019906e-06, + "acceleration": 1.9843362508709106e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.463546014856547e-06, + "observation_loss": 6.192693490447709e-06, + "chamfer": 4.987266493117204e-06, + "track": 1.2054271110173431e-06, + "acceleration": 2.7085260967396607e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.398025107046124e-06, + "observation_loss": 6.263347131607588e-06, + "chamfer": 5.039294137532124e-06, + "track": 1.2240528803886264e-06, + "acceleration": 1.3467820281221066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.6656371018325444e-06, + "observation_loss": 6.414677045540884e-06, + "chamfer": 5.158657586434856e-06, + "track": 1.2560193454191904e-06, + "acceleration": 2.5096011313507915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.090630333550507e-06, + "observation_loss": 6.887722520332318e-06, + "chamfer": 5.515328666660935e-06, + "track": 1.3723936262977077e-06, + "acceleration": 2.0290767110964225e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.68047812016448e-06, + "observation_loss": 7.5073539846926e-06, + "chamfer": 5.952398169029038e-06, + "track": 1.5549557019767235e-06, + "acceleration": 1.7312454758666718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.149666427925695e-06, + "observation_loss": 7.888143954914995e-06, + "chamfer": 6.228072834346676e-06, + "track": 1.6600714616288315e-06, + "acceleration": 2.615225866975379e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.01081841927953e-06, + "observation_loss": 7.743450623820536e-06, + "chamfer": 6.1337623264989816e-06, + "track": 1.6096886383820674e-06, + "acceleration": 2.6736748282019107e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.788661605445668e-06, + "observation_loss": 7.514478511438938e-06, + "chamfer": 5.97788448430947e-06, + "track": 1.5365939134426299e-06, + "acceleration": 2.741831508501491e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.407378689094912e-06, + "observation_loss": 7.309672582778148e-06, + "chamfer": 5.82360235057422e-06, + "track": 1.4860702322039288e-06, + "acceleration": 9.770617026561013e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1722097345627844e-06, + "observation_loss": 7.1237050178751815e-06, + "chamfer": 5.683806193701457e-06, + "track": 1.4398987104868866e-06, + "acceleration": 4.8504801952731214e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.16579006621032e-06, + "observation_loss": 7.103258667484624e-06, + "chamfer": 5.664168384100776e-06, + "track": 1.4390901696970104e-06, + "acceleration": 6.253129214428554e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.226474281196715e-06, + "observation_loss": 7.139084118534811e-06, + "chamfer": 5.681030870618997e-06, + "track": 1.458053134228976e-06, + "acceleration": 8.739028345416955e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.254080173879629e-06, + "observation_loss": 7.20513116903021e-06, + "chamfer": 5.72634462514543e-06, + "track": 1.4787865438847803e-06, + "acceleration": 4.894908300911993e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4882850640278775e-06, + "observation_loss": 7.281775651790667e-06, + "chamfer": 5.769185918325093e-06, + "track": 1.5125899608392501e-06, + "acceleration": 2.0650946908062906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.887047104304656e-06, + "observation_loss": 7.360388281085761e-06, + "chamfer": 5.8299951888329815e-06, + "track": 1.5303930922527798e-06, + "acceleration": 5.266587663754763e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.590279321651906e-06, + "observation_loss": 7.50360413803719e-06, + "chamfer": 5.924157903791638e-06, + "track": 1.5794462342455518e-06, + "acceleration": 1.0866748425542028e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.227239388565067e-06, + "observation_loss": 7.661486051802058e-06, + "chamfer": 6.047647275408963e-06, + "track": 1.6138385490194196e-06, + "acceleration": 1.565753109389334e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.768151928961743e-06, + "observation_loss": 7.83432915341109e-06, + "chamfer": 6.180791842780309e-06, + "track": 1.6535368558834307e-06, + "acceleration": 9.33822491333558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.602723937656265e-06, + "observation_loss": 8.206254278775305e-06, + "chamfer": 6.450233286159346e-06, + "track": 1.7560205378686078e-06, + "acceleration": 3.9646943150728475e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.017875527206343e-06, + "observation_loss": 8.718890967429616e-06, + "chamfer": 6.800714345445158e-06, + "track": 1.918176849358133e-06, + "acceleration": 2.989849292589497e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.43721806834219e-06, + "observation_loss": 9.313733244198374e-06, + "chamfer": 7.205424481071532e-06, + "track": 2.1083087631268427e-06, + "acceleration": 1.234849378306535e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.741276699060109e-06, + "observation_loss": 9.644712918088771e-06, + "chamfer": 7.4306876740593e-06, + "track": 2.214025471403147e-06, + "acceleration": 9.656337596197773e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0160904821532313e-05, + "observation_loss": 9.870794201560784e-06, + "chamfer": 7.587710115330992e-06, + "track": 2.283084086229792e-06, + "acceleration": 2.901108473452041e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0275378372170962e-05, + "observation_loss": 1.0094241588376462e-05, + "chamfer": 7.718263987044338e-06, + "track": 2.3759776013321243e-06, + "acceleration": 1.8113681221620936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0334600119676907e-05, + "observation_loss": 1.0211142580374144e-05, + "chamfer": 7.78740104578901e-06, + "track": 2.4237410798377823e-06, + "acceleration": 1.2345722666395886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0447155545989517e-05, + "observation_loss": 1.0102314263349399e-05, + "chamfer": 7.714273124292959e-06, + "track": 2.388040911682765e-06, + "acceleration": 3.44841140531571e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0672913049347699e-05, + "observation_loss": 9.816188139666338e-06, + "chamfer": 7.536570137745002e-06, + "track": 2.2796180019213352e-06, + "acceleration": 8.567246823076857e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0191007277171593e-05, + "observation_loss": 9.690154911368154e-06, + "chamfer": 7.447273674188182e-06, + "track": 2.2428810098062968e-06, + "acceleration": 5.00852024742926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.766787115950137e-06, + "observation_loss": 9.566597327648196e-06, + "chamfer": 7.358521997957723e-06, + "track": 2.2080755570641486e-06, + "acceleration": 2.0018993041048816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.567831511958502e-06, + "observation_loss": 9.337635674455669e-06, + "chamfer": 7.1912227213033475e-06, + "track": 2.1464131805259967e-06, + "acceleration": 2.3019575223770516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.841383871389553e-06, + "observation_loss": 9.15775126486551e-06, + "chamfer": 7.06734726918512e-06, + "track": 2.0904037683067145e-06, + "acceleration": 6.836321517766919e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.346350290987175e-05, + "observation_loss": 9.222108928952366e-06, + "chamfer": 7.079324404912768e-06, + "track": 2.1427840692922473e-06, + "acceleration": 4.241393526172033e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.171329859062098e-05, + "observation_loss": 9.429637430002913e-06, + "chamfer": 7.215828645712463e-06, + "track": 2.2138085569167743e-06, + "acceleration": 2.283660705870716e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0901944733632263e-05, + "observation_loss": 9.432480510440655e-06, + "chamfer": 7.228343292808859e-06, + "track": 2.2041372176317964e-06, + "acceleration": 1.4694639958179323e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0734396710176952e-05, + "observation_loss": 9.464192771702074e-06, + "chamfer": 7.228129106806591e-06, + "track": 2.2360636648954824e-06, + "acceleration": 1.2702043932222296e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.029923623718787e-05, + "observation_loss": 9.516520549368579e-06, + "chamfer": 7.259627182065742e-06, + "track": 2.2568931399291614e-06, + "acceleration": 7.827159720363852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0319872671971098e-05, + "observation_loss": 9.65753679338377e-06, + "chamfer": 7.341300261032302e-06, + "track": 2.3162365323514678e-06, + "acceleration": 6.623355375268147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.025217443384463e-05, + "observation_loss": 9.799840881896671e-06, + "chamfer": 7.407441444229335e-06, + "track": 2.3923994376673363e-06, + "acceleration": 4.5233380774334364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0130840564670507e-05, + "observation_loss": 1.0003905117628165e-05, + "chamfer": 7.5404982453619596e-06, + "track": 2.463407327013556e-06, + "acceleration": 1.2693573125943658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0375428246334195e-05, + "observation_loss": 1.0298183042323217e-05, + "chamfer": 7.744803951936774e-06, + "track": 2.5533795451337937e-06, + "acceleration": 7.724477057990953e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0613609447318595e-05, + "observation_loss": 1.0506618309591431e-05, + "chamfer": 7.885429113230202e-06, + "track": 2.6211894237349043e-06, + "acceleration": 1.0699137931169389e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0699219274101779e-05, + "observation_loss": 1.0588322766125202e-05, + "chamfer": 7.927664228191134e-06, + "track": 2.660658765307744e-06, + "acceleration": 1.1089672113939741e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.080552647181321e-05, + "observation_loss": 1.0655411642801482e-05, + "chamfer": 7.970360456965864e-06, + "track": 2.6850511858356185e-06, + "acceleration": 1.501152695482233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.089240140572656e-05, + "observation_loss": 1.0738156561274081e-05, + "chamfer": 8.014175364223775e-06, + "track": 2.7239809696766315e-06, + "acceleration": 1.5424492971760628e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0840817594726104e-05, + "observation_loss": 1.074933425115887e-05, + "chamfer": 8.011671525309794e-06, + "track": 2.7376624984754017e-06, + "acceleration": 9.148357804633633e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0998716788890306e-05, + "observation_loss": 1.0737373486335855e-05, + "chamfer": 8.001776222954504e-06, + "track": 2.7355974907550262e-06, + "acceleration": 2.613431036024849e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0945827852992807e-05, + "observation_loss": 1.0808249498950318e-05, + "chamfer": 8.042651643336285e-06, + "track": 2.765598082987708e-06, + "acceleration": 1.3757831140992494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.098580651159864e-05, + "observation_loss": 1.088352200895315e-05, + "chamfer": 8.077180609689094e-06, + "track": 2.806341171890381e-06, + "acceleration": 1.0228427527181339e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1030342648155056e-05, + "observation_loss": 1.0942445442196913e-05, + "chamfer": 8.114114280033391e-06, + "track": 2.8283309347898467e-06, + "acceleration": 8.789688621391178e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1098677532572765e-05, + "observation_loss": 1.1019931662303861e-05, + "chamfer": 8.157034244504757e-06, + "track": 2.8628976451727794e-06, + "acceleration": 7.874592711232253e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1084876859968062e-05, + "observation_loss": 1.0977662896038964e-05, + "chamfer": 8.134611562127247e-06, + "track": 2.843051788659068e-06, + "acceleration": 1.0721387155854245e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0921708053501789e-05, + "observation_loss": 1.0827970982063562e-05, + "chamfer": 8.039615750021767e-06, + "track": 2.7883554594154702e-06, + "acceleration": 9.373685116997876e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.278961902400775e-06, + "chamfer_mean": 5.5909670966987806e-06, + "track_mean": 1.515124283812952e-06, + "acceleration_mean": 1.172870449428487e-06, + "observation_score": 7.106091407157085e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4159015929999441 + }, + "score_arrays_file": "pass_scores/pass_end_0337.npz", + "score_arrays_sha256": "db0fad50760a569bd2ba2a89c7fe8e0caff96b5a060a056dd9f5e7499513012e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0338.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0338.json new file mode 100644 index 0000000000000000000000000000000000000000..21a5c70962f2704e0ff72647f0cf78ee14f92b86 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0338.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32448, + "completed_passes": 338, + "snapshot": "pass_end_0338", + "candidate": true, + "snapshot_arrays_sha256": "c6c78d9100acbdf09997534bcc94c44e8799b9a8a4756b0657f16a6ef5dbd2c6", + "score": 7.102287824523046e-06, + "score_result": { + "score": 7.102287824523046e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8736519652738934e-06, + 3.153399575239746e-06, + 3.2352329526474932e-06, + 3.6708956940856297e-06, + 4.194650500721764e-06, + 4.421920493768994e-06, + 4.175274625595193e-06, + 4.010662451037206e-06, + 3.945256139559206e-06, + 4.036499376525171e-06, + 4.410836027091136e-06, + 4.863745289185317e-06, + 5.169300948182354e-06, + 5.370315193431452e-06, + 5.365304787119385e-06, + 5.256188615021529e-06, + 4.899522082268959e-06, + 4.5129586396797094e-06, + 4.3379618546168786e-06, + 4.338239250500919e-06, + 4.297638952266425e-06, + 4.153057489020284e-06, + 4.055201770825079e-06, + 4.065894245286472e-06, + 4.124328370380681e-06, + 4.345439265307505e-06, + 4.737043582281331e-06, + 4.942482519254554e-06, + 4.898489805782447e-06, + 4.869432359555503e-06, + 5.06822470924817e-06, + 5.339380095392698e-06, + 5.670057817042107e-06, + 5.922503078181762e-06, + 5.9745511862274725e-06, + 6.012852736603236e-06, + 6.207614205777645e-06, + 6.361285159073304e-06, + 6.088994723540964e-06, + 5.62167406314984e-06, + 5.469982170325238e-06, + 5.716395207855385e-06, + 5.911263997404603e-06, + 6.101937742641894e-06, + 6.187594408402219e-06, + 6.258512712520314e-06, + 6.40913958704914e-06, + 6.884190042910632e-06, + 7.502069365727948e-06, + 7.873216418374795e-06, + 7.729662684141658e-06, + 7.506190740969032e-06, + 7.303492566279601e-06, + 7.117616405594163e-06, + 7.0981268436298706e-06, + 7.134532097552437e-06, + 7.201726475614123e-06, + 7.278566044988111e-06, + 7.358043603744591e-06, + 7.5022035161964595e-06, + 7.6608412200585e-06, + 7.835134965716861e-06, + 8.208875442505814e-06, + 8.72299187903991e-06, + 9.319282071373891e-06, + 9.650957508711144e-06, + 9.877485354081728e-06, + 1.0102660780830774e-05, + 1.0220054718956817e-05, + 1.0111232768394984e-05, + 9.824251719692256e-06, + 9.695747394289356e-06, + 9.568300811224617e-06, + 9.336934454040602e-06, + 9.152133316092659e-06, + 9.21711398405023e-06, + 9.42207952903118e-06, + 9.42702445172472e-06, + 9.454786777496338e-06, + 9.503812179900706e-06, + 9.645588761486579e-06, + 9.789377145352773e-06, + 9.991575097956229e-06, + 1.0284424206474796e-05, + 1.0492384717508685e-05, + 1.057425561157288e-05, + 1.0640735126798972e-05, + 1.0722918887040578e-05, + 1.0734396710176952e-05, + 1.0722700608312152e-05, + 1.0792526154546067e-05, + 1.0867974197026342e-05, + 1.0926868526439648e-05, + 1.100483405025443e-05, + 1.0962144187942613e-05, + 1.081280061043799e-05 + ] + ], + "episode_mean_losses": [ + 7.102287824523046e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8736519652738934e-06, + "observation_loss": 2.8736519652738934e-06, + "chamfer": 2.4373441647185246e-06, + "track": 4.363077152902406e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1561776015441865e-05, + "observation_loss": 3.153399575239746e-06, + "chamfer": 2.6668508326110896e-06, + "track": 4.865487994720752e-07, + "acceleration": 3.840837598545477e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3034584955894388e-05, + "observation_loss": 3.2352329526474932e-06, + "chamfer": 2.7397989015298663e-06, + "track": 4.954341079610458e-07, + "acceleration": 1.979935223062057e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0056754035758786e-05, + "observation_loss": 3.6708956940856297e-06, + "chamfer": 3.0961659831518773e-06, + "track": 5.747298246205901e-07, + "acceleration": 6.385858341673156e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.711896847060416e-06, + "observation_loss": 4.194650500721764e-06, + "chamfer": 3.518371613608906e-06, + "track": 6.762791144865332e-07, + "acceleration": 1.517246346338652e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5080317906686105e-06, + "observation_loss": 4.421920493768994e-06, + "chamfer": 3.6993917547079036e-06, + "track": 7.225286822176713e-07, + "acceleration": 1.0861114105864544e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.80228527521831e-06, + "observation_loss": 4.175274625595193e-06, + "chamfer": 3.4979339034180157e-06, + "track": 6.773409495508531e-07, + "acceleration": 6.270105359362788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.600773081619991e-06, + "observation_loss": 4.010662451037206e-06, + "chamfer": 3.3656972391327145e-06, + "track": 6.449649845308159e-07, + "acceleration": 5.901105737393664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.425917722983286e-06, + "observation_loss": 3.945256139559206e-06, + "chamfer": 3.3158505630126456e-06, + "track": 6.294053491728846e-07, + "acceleration": 4.806613560504047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.3422119233582634e-06, + "observation_loss": 4.036499376525171e-06, + "chamfer": 3.391116706552566e-06, + "track": 6.453826131291862e-07, + "acceleration": 3.0571263209822064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.552747668640222e-06, + "observation_loss": 4.410836027091136e-06, + "chamfer": 3.6964040646125795e-06, + "track": 7.144317919483001e-07, + "acceleration": 1.419117268142145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.955183612764813e-06, + "observation_loss": 4.863745289185317e-06, + "chamfer": 4.060342234879499e-06, + "track": 8.034028837755613e-07, + "acceleration": 9.143816015466655e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.267897904559504e-06, + "observation_loss": 5.169300948182354e-06, + "chamfer": 4.31170792580815e-06, + "track": 8.575929655307846e-07, + "acceleration": 9.859699190428728e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.476322257891297e-06, + "observation_loss": 5.370315193431452e-06, + "chamfer": 4.4830626393377315e-06, + "track": 8.872527814673958e-07, + "acceleration": 1.0600699340557185e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.425689778348897e-06, + "observation_loss": 5.365304787119385e-06, + "chamfer": 4.4829666876466945e-06, + "track": 8.823380994726904e-07, + "acceleration": 6.038518307605045e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.379073627409525e-06, + "observation_loss": 5.256188615021529e-06, + "chamfer": 4.3937639020441566e-06, + "track": 8.62424769820791e-07, + "acceleration": 1.2288521133996255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.102040177007439e-06, + "observation_loss": 4.899522082268959e-06, + "chamfer": 4.101043941773241e-06, + "track": 7.984781973391364e-07, + "acceleration": 2.0251813737104385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.833643743040739e-06, + "observation_loss": 4.5129586396797094e-06, + "chamfer": 3.781742861974635e-06, + "track": 7.312159482353309e-07, + "acceleration": 3.2068507493931975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.507266112341313e-06, + "observation_loss": 4.3379618546168786e-06, + "chamfer": 3.6333954085421283e-06, + "track": 7.045664460747503e-07, + "acceleration": 1.693041298267417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.499735950957984e-06, + "observation_loss": 4.338239250500919e-06, + "chamfer": 3.6294952678872505e-06, + "track": 7.087439826136688e-07, + "acceleration": 1.614964872942437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.594408437696984e-06, + "observation_loss": 4.297638952266425e-06, + "chamfer": 3.5945749914390035e-06, + "track": 7.030640745142591e-07, + "acceleration": 2.9676931490030256e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.484879355004523e-06, + "observation_loss": 4.153057489020284e-06, + "chamfer": 3.476326810414321e-06, + "track": 6.767306217625446e-07, + "acceleration": 3.3182200809278584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.702691512648016e-06, + "observation_loss": 4.055201770825079e-06, + "chamfer": 3.4006420719379093e-06, + "track": 6.545595852003316e-07, + "acceleration": 6.474896281360998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.946030003338819e-06, + "observation_loss": 4.065894245286472e-06, + "chamfer": 3.405127017686027e-06, + "track": 6.607674549741205e-07, + "acceleration": 8.801359285826038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.79587288282346e-06, + "observation_loss": 4.124328370380681e-06, + "chamfer": 3.436244469412486e-06, + "track": 6.880837872813572e-07, + "acceleration": 6.715445692861977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.66294704892789e-06, + "observation_loss": 4.345439265307505e-06, + "chamfer": 3.6007370454171905e-06, + "track": 7.44702276733733e-07, + "acceleration": 3.175078404638043e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.9474515435576905e-06, + "observation_loss": 4.737043582281331e-06, + "chamfer": 3.898741852026433e-06, + "track": 8.383015597246413e-07, + "acceleration": 2.1040786180037685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.141287601873046e-06, + "observation_loss": 4.942482519254554e-06, + "chamfer": 4.055185854667798e-06, + "track": 8.872966645867564e-07, + "acceleration": 1.9880489787738043e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.333913122740341e-06, + "observation_loss": 4.898489805782447e-06, + "chamfer": 4.022613666165853e-06, + "track": 8.758760827731749e-07, + "acceleration": 4.35423203271057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.281308858684497e-06, + "observation_loss": 4.869432359555503e-06, + "chamfer": 4.0097143028106075e-06, + "track": 8.597178862146393e-07, + "acceleration": 4.1187644228557474e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.317612703947816e-06, + "observation_loss": 5.06822470924817e-06, + "chamfer": 4.1769922063394915e-06, + "track": 8.912323323784221e-07, + "acceleration": 2.4938805154306465e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.643855274684029e-06, + "observation_loss": 5.339380095392698e-06, + "chamfer": 4.3920899770455435e-06, + "track": 9.472901751905738e-07, + "acceleration": 3.0447532139987743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.850805791851599e-06, + "observation_loss": 5.670057817042107e-06, + "chamfer": 4.657739282265538e-06, + "track": 1.0123185347765684e-06, + "acceleration": 1.8074793217692786e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.406911779777147e-06, + "observation_loss": 5.922503078181762e-06, + "chamfer": 4.850770437769825e-06, + "track": 1.071732867785613e-06, + "acceleration": 4.844084742217092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 7.031753739283886e-06, + "observation_loss": 5.9745511862274725e-06, + "chamfer": 4.893639015790541e-06, + "track": 1.080912056750094e-06, + "acceleration": 1.0572024393695756e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 8.367846930923406e-06, + "observation_loss": 6.012852736603236e-06, + "chamfer": 4.908401479042368e-06, + "track": 1.10445114387403e-06, + "acceleration": 2.35499419432017e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.132715265674051e-06, + "observation_loss": 6.207614205777645e-06, + "chamfer": 5.034909008827526e-06, + "track": 1.1727049695764435e-06, + "acceleration": 1.9251010598964058e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.707029337529093e-06, + "observation_loss": 6.361285159073304e-06, + "chamfer": 5.151001005287981e-06, + "track": 1.2102842674721614e-06, + "acceleration": 2.3457441784557886e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 9.022525773616508e-06, + "observation_loss": 6.088994723540964e-06, + "chamfer": 4.954727955919225e-06, + "track": 1.1342666539349011e-06, + "acceleration": 2.933531504822895e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.570181540155318e-06, + "observation_loss": 5.62167406314984e-06, + "chamfer": 4.592795903590741e-06, + "track": 1.0288782732459367e-06, + "acceleration": 9.485076475357346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.036153536115307e-06, + "observation_loss": 5.469982170325238e-06, + "chamfer": 4.472988166526193e-06, + "track": 9.969938901122077e-07, + "acceleration": 5.66171422633488e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.421442321880022e-06, + "observation_loss": 5.716395207855385e-06, + "chamfer": 4.6495479182340205e-06, + "track": 1.066847403308202e-06, + "acceleration": 7.050470571812184e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.311228844424477e-06, + "observation_loss": 5.911263997404603e-06, + "chamfer": 4.781300958711654e-06, + "track": 1.1299629250061116e-06, + "acceleration": 3.9996464806790755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.449857210100163e-06, + "observation_loss": 6.101937742641894e-06, + "chamfer": 4.9211403165827505e-06, + "track": 1.1807975397459813e-06, + "acceleration": 3.479193253497215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.490454325103201e-06, + "observation_loss": 6.187594408402219e-06, + "chamfer": 4.983481176168425e-06, + "track": 1.2041131185469567e-06, + "acceleration": 3.02859746170725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.4273926909663714e-06, + "observation_loss": 6.258512712520314e-06, + "chamfer": 5.035491085436661e-06, + "track": 1.2230217407704913e-06, + "acceleration": 1.6887986475921934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.698960532958154e-06, + "observation_loss": 6.40913958704914e-06, + "chamfer": 5.154348400537856e-06, + "track": 1.254791072824446e-06, + "acceleration": 2.8982071853533853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.085689503583126e-06, + "observation_loss": 6.884190042910632e-06, + "chamfer": 5.512791176442988e-06, + "track": 1.3713988664676435e-06, + "acceleration": 2.0149958857018646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.676482709939592e-06, + "observation_loss": 7.502069365727948e-06, + "chamfer": 5.948835223534843e-06, + "track": 1.5532340285062674e-06, + "acceleration": 1.7441304578369454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.130137757689226e-06, + "observation_loss": 7.873216418374795e-06, + "chamfer": 6.217676855158061e-06, + "track": 1.6555396769035724e-06, + "acceleration": 2.56921737218363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.00031193648465e-06, + "observation_loss": 7.729662684141658e-06, + "chamfer": 6.12368648944539e-06, + "track": 1.6059765357567812e-06, + "acceleration": 2.7064919549957267e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.768750037939753e-06, + "observation_loss": 7.506190740969032e-06, + "chamfer": 5.97159487369936e-06, + "track": 1.534596094643348e-06, + "acceleration": 2.625594390792685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.3993751357193105e-06, + "observation_loss": 7.303492566279601e-06, + "chamfer": 5.818835688842228e-06, + "track": 1.484657104811049e-06, + "acceleration": 9.588242733116203e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.164837825257564e-06, + "observation_loss": 7.117616405594163e-06, + "chamfer": 5.679081368725747e-06, + "track": 1.4385351505552535e-06, + "acceleration": 4.7221352161841423e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.160744189604884e-06, + "observation_loss": 7.0981268436298706e-06, + "chamfer": 5.660148872266291e-06, + "track": 1.4379781987372553e-06, + "acceleration": 6.261743124014174e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.223416560009355e-06, + "observation_loss": 7.134532097552437e-06, + "chamfer": 5.67750794289168e-06, + "track": 1.4570239272870822e-06, + "acceleration": 8.888444114063532e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.252523573697545e-06, + "observation_loss": 7.201726475614123e-06, + "chamfer": 5.723603862861637e-06, + "track": 1.4781223853788106e-06, + "acceleration": 5.0797254402823455e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.485122296202462e-06, + "observation_loss": 7.278566044988111e-06, + "chamfer": 5.766602043877356e-06, + "track": 1.5119641147975926e-06, + "acceleration": 2.0655612331665907e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.8856328400434e-06, + "observation_loss": 7.358043603744591e-06, + "chamfer": 5.828071152791381e-06, + "track": 1.5299724509532098e-06, + "acceleration": 5.275894068290654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.592032827436924e-06, + "observation_loss": 7.5022035161964595e-06, + "chamfer": 5.922984200879e-06, + "track": 1.5792194290042971e-06, + "acceleration": 1.0898297659878153e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.231248441210482e-06, + "observation_loss": 7.6608412200585e-06, + "chamfer": 6.047022452548845e-06, + "track": 1.6138186538228183e-06, + "acceleration": 1.570406993778306e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.772281944402494e-06, + "observation_loss": 7.835134965716861e-06, + "chamfer": 6.181246590131195e-06, + "track": 1.653888716646179e-06, + "acceleration": 9.371468649987946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.606468327343464e-06, + "observation_loss": 8.208875442505814e-06, + "chamfer": 6.451993613154627e-06, + "track": 1.7568820567248622e-06, + "acceleration": 3.9759288483764976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.02279407455353e-06, + "observation_loss": 8.72299187903991e-06, + "chamfer": 6.803394626331283e-06, + "track": 1.9195974800823024e-06, + "acceleration": 2.998021102484927e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.443176168133505e-06, + "observation_loss": 9.319282071373891e-06, + "chamfer": 7.209118848550133e-06, + "track": 2.1101629954500822e-06, + "acceleration": 1.2389435255499848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.74770046013873e-06, + "observation_loss": 9.650957508711144e-06, + "chamfer": 7.43482269172091e-06, + "track": 2.2161345896165585e-06, + "acceleration": 9.674251799651756e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0167567779717501e-05, + "observation_loss": 9.877485354081728e-06, + "chamfer": 7.592063866468379e-06, + "track": 2.2854217149870237e-06, + "acceleration": 2.900820845752605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0284566997142974e-05, + "observation_loss": 1.0102660780830774e-05, + "chamfer": 7.724036549916491e-06, + "track": 2.3786242309142835e-06, + "acceleration": 1.819065715835677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0344031579734292e-05, + "observation_loss": 1.0220054718956817e-05, + "chamfer": 7.793591066729277e-06, + "track": 2.4264636522275396e-06, + "acceleration": 1.2397703130773152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0457160897203721e-05, + "observation_loss": 1.0111232768394984e-05, + "chamfer": 7.720421308476944e-06, + "track": 2.3908116872917162e-06, + "acceleration": 3.459276740613859e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0685841516533401e-05, + "observation_loss": 9.824251719692256e-06, + "chamfer": 7.542226740042679e-06, + "track": 2.2820249796495773e-06, + "acceleration": 8.615899673714011e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0201645636698231e-05, + "observation_loss": 9.695747394289356e-06, + "chamfer": 7.451298642990878e-06, + "track": 2.2444485239248024e-06, + "acceleration": 5.058986971562263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.769668395165354e-06, + "observation_loss": 9.568300811224617e-06, + "chamfer": 7.359667961281957e-06, + "track": 2.2086330773163354e-06, + "acceleration": 2.0136731393449736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.56644998950651e-06, + "observation_loss": 9.336934454040602e-06, + "chamfer": 7.190467385953525e-06, + "track": 2.146467295460752e-06, + "acceleration": 2.2951557809847145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.842011422733776e-06, + "observation_loss": 9.152133316092659e-06, + "chamfer": 7.06371520209359e-06, + "track": 2.088418341372744e-06, + "acceleration": 6.898785613884684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3429857062874362e-05, + "observation_loss": 9.21711398405023e-06, + "chamfer": 7.076336260070093e-06, + "track": 2.1407779513538117e-06, + "acceleration": 4.2127435335714836e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1695517059706617e-05, + "observation_loss": 9.42207952903118e-06, + "chamfer": 7.210634976217989e-06, + "track": 2.21144409806584e-06, + "acceleration": 2.2734377580491127e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.092613092623651e-05, + "observation_loss": 9.42702445172472e-06, + "chamfer": 7.2246593845193274e-06, + "track": 2.2023652945790673e-06, + "acceleration": 1.4991065881986287e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0772912901302334e-05, + "observation_loss": 9.454786777496338e-06, + "chamfer": 7.2214911597257014e-06, + "track": 2.2332956177706365e-06, + "acceleration": 1.3181257827454829e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0318204658688046e-05, + "observation_loss": 9.503812179900706e-06, + "chamfer": 7.2506459218857344e-06, + "track": 2.253166030641296e-06, + "acceleration": 8.143926493175968e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0323642527509946e-05, + "observation_loss": 9.645588761486579e-06, + "chamfer": 7.333077974180924e-06, + "track": 2.3125110146793304e-06, + "acceleration": 6.780534249628545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.025002529786434e-05, + "observation_loss": 9.789377145352773e-06, + "chamfer": 7.400449248962104e-06, + "track": 2.388927441643318e-06, + "acceleration": 4.6064829462011403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0121888408320956e-05, + "observation_loss": 9.991575097956229e-06, + "chamfer": 7.532166364399018e-06, + "track": 2.459408506183536e-06, + "acceleration": 1.303136514252401e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.036199591908371e-05, + "observation_loss": 1.0284424206474796e-05, + "chamfer": 7.735339750070125e-06, + "track": 2.5490842290309956e-06, + "acceleration": 7.75717836631884e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0599497727525886e-05, + "observation_loss": 1.0492384717508685e-05, + "chamfer": 7.87586577644106e-06, + "track": 2.616518941067625e-06, + "acceleration": 1.0711330844515032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0685516826924868e-05, + "observation_loss": 1.057425561157288e-05, + "chamfer": 7.918335541035049e-06, + "track": 2.655919843164156e-06, + "acceleration": 1.112607677100641e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0792455213959329e-05, + "observation_loss": 1.0640735126798972e-05, + "chamfer": 7.960758921399247e-06, + "track": 2.6799757506523747e-06, + "acceleration": 1.517200445277922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0878537068492733e-05, + "observation_loss": 1.0722918887040578e-05, + "chamfer": 8.003893526620232e-06, + "track": 2.719025133046671e-06, + "acceleration": 1.556181814521551e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0829384336830117e-05, + "observation_loss": 1.0734396710176952e-05, + "chamfer": 8.0018253356684e-06, + "track": 2.7325716018822277e-06, + "acceleration": 9.498721453837788e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0987719178956468e-05, + "observation_loss": 1.0722700608312152e-05, + "chamfer": 7.992127393663395e-06, + "track": 2.7305734420224326e-06, + "acceleration": 2.6501820116209274e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.093178889277624e-05, + "observation_loss": 1.0792526154546067e-05, + "chamfer": 8.032275218283758e-06, + "track": 2.7602504815149587e-06, + "acceleration": 1.3926262454333482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0971223673550412e-05, + "observation_loss": 1.0867974197026342e-05, + "chamfer": 8.06704156275373e-06, + "track": 2.8009330890199635e-06, + "acceleration": 1.0324950494577934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.1015430573024787e-05, + "observation_loss": 1.0926868526439648e-05, + "chamfer": 8.103973414108623e-06, + "track": 2.82289488495735e-06, + "acceleration": 8.856189737116438e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1083898243668955e-05, + "observation_loss": 1.100483405025443e-05, + "chamfer": 8.147402695612982e-06, + "track": 2.8574311272677733e-06, + "acceleration": 7.906412946567798e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1069484571635257e-05, + "observation_loss": 1.0962144187942613e-05, + "chamfer": 8.124548912746832e-06, + "track": 2.8375950478221057e-06, + "acceleration": 1.0734046185234547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0906634997809306e-05, + "observation_loss": 1.081280061043799e-05, + "chamfer": 8.029794116737321e-06, + "track": 2.783006948448019e-06, + "acceleration": 9.383463606127407e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.287650201073879e-06, + "chamfer_mean": 5.588259059644922e-06, + "track_mean": 1.514028764582065e-06, + "acceleration_mean": 1.185362371258769e-06, + "observation_score": 7.102287824523046e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.416575463999834 + }, + "score_arrays_file": "pass_scores/pass_end_0338.npz", + "score_arrays_sha256": "847eb5f4621b028f372d7f0589db110cb4e89899d239f5dc934fd77cf56f086e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0339.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0339.json new file mode 100644 index 0000000000000000000000000000000000000000..84fc2a195c209ced2e023db5ce4dcc0ac4d0490e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0339.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32544, + "completed_passes": 339, + "snapshot": "pass_end_0339", + "candidate": true, + "snapshot_arrays_sha256": "c584788e4fbf3c820171239c915f16d2655f9b021c3bef27d73bce7470492c25", + "score": 7.097776628957793e-06, + "score_result": { + "score": 7.097776628957793e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8738368200720288e-06, + 3.15326565214491e-06, + 3.2340326470148284e-06, + 3.66962876796606e-06, + 4.193685526843183e-06, + 4.421850917424308e-06, + 4.175304638920352e-06, + 4.009832991869189e-06, + 3.944041509384988e-06, + 4.034199719171738e-06, + 4.40805251855636e-06, + 4.861142315348843e-06, + 5.166496521269437e-06, + 5.367037829273613e-06, + 5.361712737794733e-06, + 5.25268569617765e-06, + 4.896045084024081e-06, + 4.5090891944710165e-06, + 4.334604909672635e-06, + 4.335711764724692e-06, + 4.295575763535453e-06, + 4.149748747295234e-06, + 4.049634753755527e-06, + 4.060589162691031e-06, + 4.120635821891483e-06, + 4.343018645158736e-06, + 4.733157766168006e-06, + 4.93488823849475e-06, + 4.8903793867793866e-06, + 4.863124559051357e-06, + 5.066495305072749e-06, + 5.340153620636556e-06, + 5.6746407608443405e-06, + 5.9295275605109055e-06, + 5.9815802160301246e-06, + 6.014680820953799e-06, + 6.202169970492832e-06, + 6.357236088661011e-06, + 6.090276201575762e-06, + 5.623210654448485e-06, + 5.469854386319639e-06, + 5.714393410016783e-06, + 5.9044341469416395e-06, + 6.095118806115352e-06, + 6.183308869367465e-06, + 6.2538738347939216e-06, + 6.4046180341392756e-06, + 6.88186037223204e-06, + 7.496690159314312e-06, + 7.856328920752276e-06, + 7.7116783359088e-06, + 7.492255008401116e-06, + 7.293042926903581e-06, + 7.108666068234015e-06, + 7.091476163623156e-06, + 7.12875225872267e-06, + 7.197080776677467e-06, + 7.275548341567628e-06, + 7.356215064646676e-06, + 7.501481377403252e-06, + 7.661391464353073e-06, + 7.837968041712884e-06, + 8.214945410145447e-06, + 8.731694833841175e-06, + 9.330074135505129e-06, + 9.663224773248658e-06, + 9.889884495350998e-06, + 1.0116869816556573e-05, + 1.0234802175546065e-05, + 1.0125370863534044e-05, + 9.836546269070823e-06, + 9.705463526188396e-06, + 9.573733223078307e-06, + 9.33891351451166e-06, + 9.147490345640108e-06, + 9.210930329572875e-06, + 9.411473001819104e-06, + 9.418730769539252e-06, + 9.442577720619738e-06, + 9.488916475675069e-06, + 9.63012280408293e-06, + 9.775346370588522e-06, + 9.976118235499598e-06, + 1.0267110155837145e-05, + 1.0474794180481695e-05, + 1.055609027389437e-05, + 1.0622504305501934e-05, + 1.0702614417823497e-05, + 1.0714587915572338e-05, + 1.0703191946959123e-05, + 1.0772047971840948e-05, + 1.0847635167010594e-05, + 1.0906238458119333e-05, + 1.0984251275658607e-05, + 1.0941215805360116e-05, + 1.0792026841954794e-05 + ] + ], + "episode_mean_losses": [ + 7.097776628957793e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8738368200720288e-06, + "observation_loss": 2.8738368200720288e-06, + "chamfer": 2.437486045892001e-06, + "track": 4.3635066049318993e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.156882641837001e-05, + "observation_loss": 3.15326565214491e-06, + "chamfer": 2.6667332804208854e-06, + "track": 4.865323717240244e-07, + "acceleration": 3.8415560993598774e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.303104156453628e-05, + "observation_loss": 3.2340326470148284e-06, + "chamfer": 2.7387991394789424e-06, + "track": 4.95233507535886e-07, + "acceleration": 1.9797009372268803e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0055884558823891e-05, + "observation_loss": 3.66962876796606e-06, + "chamfer": 3.0951068765716627e-06, + "track": 5.745218345509784e-07, + "acceleration": 6.386255790857831e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.707910077035194e-06, + "observation_loss": 4.193685526843183e-06, + "chamfer": 3.517554432619363e-06, + "track": 6.761313215974951e-07, + "acceleration": 1.5142244365051738e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.50803133592126e-06, + "observation_loss": 4.421850917424308e-06, + "chamfer": 3.699293529280112e-06, + "track": 7.225572176139394e-07, + "acceleration": 1.0861805321837892e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.801435352419503e-06, + "observation_loss": 4.175304638920352e-06, + "chamfer": 3.497896614135243e-06, + "track": 6.7740796794169e-07, + "acceleration": 6.2613077034257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.602804438036401e-06, + "observation_loss": 4.009832991869189e-06, + "chamfer": 3.364938720551436e-06, + "track": 6.448944418480096e-07, + "acceleration": 5.929715598540497e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4253738451516256e-06, + "observation_loss": 3.944041509384988e-06, + "chamfer": 3.314783725727466e-06, + "track": 6.292578973443597e-07, + "acceleration": 4.813322220798e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.339822226029355e-06, + "observation_loss": 4.034199719171738e-06, + "chamfer": 3.3891731163748773e-06, + "track": 6.450267733271176e-07, + "acceleration": 3.056226773878734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.55041754321428e-06, + "observation_loss": 4.40805251855636e-06, + "chamfer": 3.6940841710020322e-06, + "track": 7.139681770240713e-07, + "acceleration": 1.4236518097732187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.95281210532994e-06, + "observation_loss": 4.861142315348843e-06, + "chamfer": 4.058181275468087e-06, + "track": 8.02961153567594e-07, + "acceleration": 9.166988235165263e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.265593244985212e-06, + "observation_loss": 5.166496521269437e-06, + "chamfer": 4.309388714318629e-06, + "track": 8.571076932639698e-07, + "acceleration": 9.909681608633036e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.473176315717865e-06, + "observation_loss": 5.367037829273613e-06, + "chamfer": 4.480355983105255e-06, + "track": 8.86681789324939e-07, + "acceleration": 1.0613854328767047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.422203685157001e-06, + "observation_loss": 5.361712737794733e-06, + "chamfer": 4.480021743802354e-06, + "track": 8.816911076792167e-07, + "acceleration": 6.049104683825135e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.3755838962388225e-06, + "observation_loss": 5.25268569617765e-06, + "chamfer": 4.3908926272706594e-06, + "track": 8.617929552201531e-07, + "acceleration": 1.2289827111544582e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.098380825074855e-06, + "observation_loss": 4.896045084024081e-06, + "chamfer": 4.098181761946762e-06, + "track": 7.978631515470624e-07, + "acceleration": 2.0233588315932138e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.8305078053090256e-06, + "observation_loss": 4.5090891944710165e-06, + "chamfer": 3.778533937293105e-06, + "track": 7.305554845515871e-07, + "acceleration": 3.214184971511713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.504692697082646e-06, + "observation_loss": 4.334604909672635e-06, + "chamfer": 3.6305807498138165e-06, + "track": 7.040241030153993e-07, + "acceleration": 1.7008775898830208e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.495401753956685e-06, + "observation_loss": 4.335711764724692e-06, + "chamfer": 3.6273597743274877e-06, + "track": 7.083521040840424e-07, + "acceleration": 1.5969004607541137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5929323277960066e-06, + "observation_loss": 4.295575763535453e-06, + "chamfer": 3.592804432628327e-06, + "track": 7.027713877505448e-07, + "acceleration": 2.9735653583884414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.484699275053572e-06, + "observation_loss": 4.149748747295234e-06, + "chamfer": 3.4735573990474222e-06, + "track": 6.761912914043933e-07, + "acceleration": 3.349503856497904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.691321009886451e-06, + "observation_loss": 4.049634753755527e-06, + "chamfer": 3.3959827305807266e-06, + "track": 6.536519094879623e-07, + "acceleration": 6.416860856006679e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.9270884119323455e-06, + "observation_loss": 4.060589162691031e-06, + "chamfer": 3.4006366149696987e-06, + "track": 6.599526614081697e-07, + "acceleration": 8.664994766149903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.779877599503379e-06, + "observation_loss": 4.120635821891483e-06, + "chamfer": 3.4330657854297897e-06, + "track": 6.875700933051121e-07, + "acceleration": 6.592418912987341e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.6568852667405736e-06, + "observation_loss": 4.343018645158736e-06, + "chamfer": 3.5985722206532955e-06, + "track": 7.444465950356971e-07, + "acceleration": 3.1386673526867526e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.941664428770309e-06, + "observation_loss": 4.733157766168006e-06, + "chamfer": 3.8955827221798245e-06, + "track": 8.375748734579247e-07, + "acceleration": 2.0850667681315826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.134269031259464e-06, + "observation_loss": 4.93488823849475e-06, + "chamfer": 4.049213202961255e-06, + "track": 8.85675149220333e-07, + "acceleration": 1.993807217104404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.329800842446275e-06, + "observation_loss": 4.8903793867793866e-06, + "chamfer": 4.0160025491786655e-06, + "track": 8.743770649743965e-07, + "acceleration": 4.3942148408859794e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2829527703579515e-06, + "observation_loss": 4.863124559051357e-06, + "chamfer": 4.00451381210587e-06, + "track": 8.586105764152308e-07, + "acceleration": 4.198280976197566e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.324618086888222e-06, + "observation_loss": 5.066495305072749e-06, + "chamfer": 4.175452886556741e-06, + "track": 8.910422479857516e-07, + "acceleration": 2.58122980767439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.64175252293353e-06, + "observation_loss": 5.340153620636556e-06, + "chamfer": 4.392291430121986e-06, + "track": 9.478624178882455e-07, + "acceleration": 3.0159876018842624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.839914592797868e-06, + "observation_loss": 5.6746407608443405e-06, + "chamfer": 4.6611990001110826e-06, + "track": 1.013441760733258e-06, + "acceleration": 1.6527378932096326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.377336831064895e-06, + "observation_loss": 5.9295275605109055e-06, + "chamfer": 4.856068699155003e-06, + "track": 1.0734589750427403e-06, + "acceleration": 4.4780918528886104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.989365829213057e-06, + "observation_loss": 5.9815802160301246e-06, + "chamfer": 4.89932790515013e-06, + "track": 1.0822520835063187e-06, + "acceleration": 1.0077858405566076e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 8.319469998241402e-06, + "observation_loss": 6.014680820953799e-06, + "chamfer": 4.91062883156701e-06, + "track": 1.1040518756999518e-06, + "acceleration": 2.3047896320349537e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.127496585075278e-06, + "observation_loss": 6.202169970492832e-06, + "chamfer": 5.031660293752793e-06, + "track": 1.1705095630532014e-06, + "acceleration": 1.9253266145824455e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.78067294252105e-06, + "observation_loss": 6.357236088661011e-06, + "chamfer": 5.148392119735945e-06, + "track": 1.2088437415513908e-06, + "acceleration": 2.423436626486364e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 9.28919507714454e-06, + "observation_loss": 6.090276201575762e-06, + "chamfer": 4.955895747116301e-06, + "track": 1.1343805681462982e-06, + "acceleration": 3.1989191029424546e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.800637038395507e-06, + "observation_loss": 5.623210654448485e-06, + "chamfer": 4.593967787513975e-06, + "track": 1.02924286693451e-06, + "acceleration": 1.1774262702601845e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.066223249945324e-06, + "observation_loss": 5.469854386319639e-06, + "chamfer": 4.4728371904056985e-06, + "track": 9.97017082227103e-07, + "acceleration": 5.963686930954282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.604003829124849e-06, + "observation_loss": 5.714393410016783e-06, + "chamfer": 4.647891273634741e-06, + "track": 1.0665021363820415e-06, + "acceleration": 8.896101917343913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.370197752403328e-06, + "observation_loss": 5.9044341469416395e-06, + "chamfer": 4.776041805598652e-06, + "track": 1.1283922276561498e-06, + "acceleration": 4.65763690726817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.687957011308754e-06, + "observation_loss": 6.095118806115352e-06, + "chamfer": 4.9159011723531876e-06, + "track": 1.1792177474490018e-06, + "acceleration": 5.9283831888024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.530371138069313e-06, + "observation_loss": 6.183308869367465e-06, + "chamfer": 4.980199264537077e-06, + "track": 1.2031097185172257e-06, + "acceleration": 3.470622402801382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.4818686951184645e-06, + "observation_loss": 6.2538738347939216e-06, + "chamfer": 5.031954970036168e-06, + "track": 1.2219187510709162e-06, + "acceleration": 2.2799505927650898e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.710947673127521e-06, + "observation_loss": 6.4046180341392756e-06, + "chamfer": 5.151027835381683e-06, + "track": 1.253590426131268e-06, + "acceleration": 3.063298379402113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.112563253031112e-06, + "observation_loss": 6.88186037223204e-06, + "chamfer": 5.511206381925149e-06, + "track": 1.3706541039937292e-06, + "acceleration": 2.3070305132932845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.688554433116224e-06, + "observation_loss": 7.496690159314312e-06, + "chamfer": 5.9450921980896965e-06, + "track": 1.5515980749114533e-06, + "acceleration": 1.918642595910569e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.110127055260818e-06, + "observation_loss": 7.856328920752276e-06, + "chamfer": 6.205797490110854e-06, + "track": 1.6505316580150975e-06, + "acceleration": 2.537983903039276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 7.998990440682974e-06, + "observation_loss": 7.7116783359088e-06, + "chamfer": 6.11060522714979e-06, + "track": 1.601073222445848e-06, + "acceleration": 2.8731210477417335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.759378604532685e-06, + "observation_loss": 7.492255008401116e-06, + "chamfer": 5.961010629107477e-06, + "track": 1.531244492980477e-06, + "acceleration": 2.6712368139669707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.395547072519548e-06, + "observation_loss": 7.293042926903581e-06, + "chamfer": 5.810642960568657e-06, + "track": 1.4823998526480864e-06, + "acceleration": 1.025041953539585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.155500952649163e-06, + "observation_loss": 7.108666068234015e-06, + "chamfer": 5.67205006518634e-06, + "track": 1.4366157756739995e-06, + "acceleration": 4.683484888801104e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1561603363079485e-06, + "observation_loss": 7.091476163623156e-06, + "chamfer": 5.65489017390064e-06, + "track": 1.4365861034093541e-06, + "acceleration": 6.468420110650186e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.220540283014998e-06, + "observation_loss": 7.12875225872267e-06, + "chamfer": 5.6729668358457275e-06, + "track": 1.4557853091901052e-06, + "acceleration": 9.178783955121617e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.249005193443736e-06, + "observation_loss": 7.197080776677467e-06, + "chamfer": 5.719767614209559e-06, + "track": 1.4773132761547458e-06, + "acceleration": 5.1924349264709235e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4779513852263335e-06, + "observation_loss": 7.275548341567628e-06, + "chamfer": 5.7640718296170235e-06, + "track": 1.5114762845769292e-06, + "acceleration": 2.024029299718677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.880408702476416e-06, + "observation_loss": 7.356215064646676e-06, + "chamfer": 5.826505002914928e-06, + "track": 1.529710175418586e-06, + "acceleration": 5.241932399258076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.590301149524748e-06, + "observation_loss": 7.501481377403252e-06, + "chamfer": 5.922307991568232e-06, + "track": 1.5791734995218576e-06, + "acceleration": 1.0888196584346588e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.233568562194705e-06, + "observation_loss": 7.661391464353073e-06, + "chamfer": 6.047252554708393e-06, + "track": 1.614138568584167e-06, + "acceleration": 1.5721774389021448e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.77586080605397e-06, + "observation_loss": 7.837968041712884e-06, + "chamfer": 6.183191089803586e-06, + "track": 1.654776951909298e-06, + "acceleration": 9.378928780279239e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.61223725223681e-06, + "observation_loss": 8.214945410145447e-06, + "chamfer": 6.456256869569188e-06, + "track": 1.7586881995157455e-06, + "acceleration": 3.972915578742686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.031280569615774e-06, + "observation_loss": 8.731694833841175e-06, + "chamfer": 6.8093554546067026e-06, + "track": 1.9223396066081477e-06, + "acceleration": 2.9958550840092357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.452849553781562e-06, + "observation_loss": 9.330074135505129e-06, + "chamfer": 7.216469384729862e-06, + "track": 2.113604523401591e-06, + "acceleration": 1.2277529037874046e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.759886779647786e-06, + "observation_loss": 9.663224773248658e-06, + "chamfer": 7.4430931817914825e-06, + "track": 2.2201313640834996e-06, + "acceleration": 9.666224087823139e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.018017610476818e-05, + "observation_loss": 9.889884495350998e-06, + "chamfer": 7.600262961204862e-06, + "track": 2.2896215341461357e-06, + "acceleration": 2.9029177994743804e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0299421774107032e-05, + "observation_loss": 1.0116869816556573e-05, + "chamfer": 7.733781785645988e-06, + "track": 2.3830878035369096e-06, + "acceleration": 1.825517585984926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0359167390561197e-05, + "observation_loss": 1.0234802175546065e-05, + "chamfer": 7.803741027601063e-06, + "track": 2.4310616026923526e-06, + "acceleration": 1.2436515817171312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0472367648617364e-05, + "observation_loss": 1.0125370863534044e-05, + "chamfer": 7.73003284848528e-06, + "track": 2.395337787675089e-06, + "acceleration": 3.469971545655426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0702109648264013e-05, + "observation_loss": 9.836546269070823e-06, + "chamfer": 7.55070686864201e-06, + "track": 2.2858391730551375e-06, + "acceleration": 8.655630381326773e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0215902875643224e-05, + "observation_loss": 9.705463526188396e-06, + "chamfer": 7.458080744981999e-06, + "track": 2.2473823264590465e-06, + "acceleration": 5.104397473587596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.776079423318151e-06, + "observation_loss": 9.573733223078307e-06, + "chamfer": 7.363336862908909e-06, + "track": 2.2103963601693977e-06, + "acceleration": 2.0234622866155405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.567678716848604e-06, + "observation_loss": 9.33891351451166e-06, + "chamfer": 7.1915792432264425e-06, + "track": 2.1473344986588927e-06, + "acceleration": 2.2876545813232951e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.84133112069685e-06, + "observation_loss": 9.147490345640108e-06, + "chamfer": 7.060772077238653e-06, + "track": 2.0867184957751306e-06, + "acceleration": 6.938411161172553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3385750207817182e-05, + "observation_loss": 9.210930329572875e-06, + "chamfer": 7.072766493365634e-06, + "track": 2.1381636088335654e-06, + "acceleration": 4.174820332991658e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1688435733958613e-05, + "observation_loss": 9.411473001819104e-06, + "chamfer": 7.203359928098507e-06, + "track": 2.208113301094272e-06, + "acceleration": 2.2769625047658337e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0953973287541885e-05, + "observation_loss": 9.418730769539252e-06, + "chamfer": 7.219073268061038e-06, + "track": 2.1996577288518893e-06, + "acceleration": 1.5352428590631462e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0814005690917838e-05, + "observation_loss": 9.442577720619738e-06, + "chamfer": 7.212905529740965e-06, + "track": 2.2296724182524486e-06, + "acceleration": 1.3714278566112625e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0339128493797034e-05, + "observation_loss": 9.488916475675069e-06, + "chamfer": 7.240028480737237e-06, + "track": 2.2488875401904806e-06, + "acceleration": 8.502123023390595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0320825822418556e-05, + "observation_loss": 9.63012280408293e-06, + "chamfer": 7.322326382563915e-06, + "track": 2.3077961941453395e-06, + "acceleration": 6.907030751790444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0240570190944709e-05, + "observation_loss": 9.775346370588522e-06, + "chamfer": 7.3909318416554015e-06, + "track": 2.3844147563067963e-06, + "acceleration": 4.652233656088356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0108957212651148e-05, + "observation_loss": 9.976118235499598e-06, + "chamfer": 7.521643055952154e-06, + "track": 2.454475179547444e-06, + "acceleration": 1.328387497778749e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0344355359848123e-05, + "observation_loss": 1.0267110155837145e-05, + "chamfer": 7.723402632109355e-06, + "track": 2.5437075237277895e-06, + "acceleration": 7.724513295670477e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0581375136098359e-05, + "observation_loss": 1.0474794180481695e-05, + "chamfer": 7.864085091568995e-06, + "track": 2.6107090889126994e-06, + "acceleration": 1.0658122562290373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0667493370419834e-05, + "observation_loss": 1.055609027389437e-05, + "chamfer": 7.906230166554451e-06, + "track": 2.649859879966243e-06, + "acceleration": 1.1140350153482359e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0774310794658959e-05, + "observation_loss": 1.0622504305501934e-05, + "chamfer": 7.948741767904721e-06, + "track": 2.6737627649708884e-06, + "acceleration": 1.5180654600044363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0858252608159091e-05, + "observation_loss": 1.0702614417823497e-05, + "chamfer": 7.990183803485706e-06, + "track": 2.7124303869641153e-06, + "acceleration": 1.556385598178167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0811365427798592e-05, + "observation_loss": 1.0714587915572338e-05, + "chamfer": 7.98874953034101e-06, + "track": 2.7258383852313273e-06, + "acceleration": 9.677724222001416e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.097050426324131e-05, + "observation_loss": 1.0703191946959123e-05, + "chamfer": 7.97932079876773e-06, + "track": 2.7238711481913924e-06, + "acceleration": 2.6731223101705837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0912701327470131e-05, + "observation_loss": 1.0772047971840948e-05, + "chamfer": 8.018801054276992e-06, + "track": 2.7532469175639562e-06, + "acceleration": 1.4065291509268718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.095189327315893e-05, + "observation_loss": 1.0847635167010594e-05, + "chamfer": 8.053803867369425e-06, + "track": 2.793831527014845e-06, + "acceleration": 1.0425796403978893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0995043339789845e-05, + "observation_loss": 1.0906238458119333e-05, + "chamfer": 8.090535629889928e-06, + "track": 2.815703282976756e-06, + "acceleration": 8.880473245653775e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1063506462960504e-05, + "observation_loss": 1.0984251275658607e-05, + "chamfer": 8.13422320788959e-06, + "track": 2.850027613021666e-06, + "acceleration": 7.925501677163993e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1048859960283153e-05, + "observation_loss": 1.0941215805360116e-05, + "chamfer": 8.110997441690415e-06, + "track": 2.8302185910433764e-06, + "acceleration": 1.0764449598354986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0886012205446605e-05, + "observation_loss": 1.0792026841954794e-05, + "chamfer": 8.016312676772941e-06, + "track": 2.7757143925555283e-06, + "acceleration": 9.398519296155428e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.296245037323994e-06, + "chamfer_mean": 5.585034019854144e-06, + "track_mean": 1.5127426079194113e-06, + "acceleration_mean": 1.1984684386752893e-06, + "observation_score": 7.097776628957793e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.415329165998628 + }, + "score_arrays_file": "pass_scores/pass_end_0339.npz", + "score_arrays_sha256": "2663c79a3d4028b64f42377612cc71a16dfdf2d25b35446f48321e572baa3733" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0340.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0340.json new file mode 100644 index 0000000000000000000000000000000000000000..b6fdd3eed18d0d5ffa4f3e6783eaf32977516400 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0340.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32640, + "completed_passes": 340, + "snapshot": "pass_end_0340", + "candidate": true, + "snapshot_arrays_sha256": "1dacc6261134beb62bdfbc1a6c7d470c76d4550e98e47c33af0ad667d91bdc1a", + "score": 7.090340166845029e-06, + "score_result": { + "score": 7.090340166845029e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8740721518261125e-06, + 3.1530455544270808e-06, + 3.232808012398891e-06, + 3.6682877180282958e-06, + 4.192231699562399e-06, + 4.420970071805641e-06, + 4.174618425167864e-06, + 4.008360974694369e-06, + 3.942427611036692e-06, + 4.0320155676454306e-06, + 4.405985691846581e-06, + 4.858342435909435e-06, + 5.163324203749653e-06, + 5.363513537304243e-06, + 5.3580765779770445e-06, + 5.24892038811231e-06, + 4.892533524980536e-06, + 4.505457127379486e-06, + 4.331487616582308e-06, + 4.332836397225037e-06, + 4.292206540412735e-06, + 4.144894774071872e-06, + 4.043897206429392e-06, + 4.056085344927851e-06, + 4.118628112337319e-06, + 4.3426925913081504e-06, + 4.731707576866029e-06, + 4.929878741677385e-06, + 4.884641839453252e-06, + 4.859297860093648e-06, + 5.067504844191717e-06, + 5.34343871549936e-06, + 5.681798029399943e-06, + 5.9384833548392635e-06, + 5.990687895973679e-06, + 6.018396561557893e-06, + 6.1998625824344344e-06, + 6.3576439970347565e-06, + 6.093846877774922e-06, + 5.625723133562133e-06, + 5.470832547871396e-06, + 5.710988716600696e-06, + 5.896983111597365e-06, + 6.088903774070786e-06, + 6.17946398051572e-06, + 6.248718818824273e-06, + 6.399469384632539e-06, + 6.875094641145552e-06, + 7.483432455046568e-06, + 7.833054041839205e-06, + 7.688578989473172e-06, + 7.470388482033741e-06, + 7.273630217241589e-06, + 7.092341093084542e-06, + 7.077358532114886e-06, + 7.116018423403148e-06, + 7.185049071267713e-06, + 7.263853603944881e-06, + 7.343959168792935e-06, + 7.488701157853939e-06, + 7.648237442481332e-06, + 7.823774467397016e-06, + 8.200084266718477e-06, + 8.716238880879246e-06, + 9.315395800513215e-06, + 9.649409548728727e-06, + 9.876443982648198e-06, + 1.0104588000103831e-05, + 1.022287233354291e-05, + 1.0113290954905096e-05, + 9.82438723440282e-06, + 9.691206287243403e-06, + 9.55709856498288e-06, + 9.321409379481338e-06, + 9.127168596023694e-06, + 9.19395279197488e-06, + 9.3962353275856e-06, + 9.408703590452205e-06, + 9.431224498257507e-06, + 9.47688204178121e-06, + 9.618594049243256e-06, + 9.764545211510267e-06, + 9.964699529518839e-06, + 1.0256521818519104e-05, + 1.0463783837622032e-05, + 1.0545537406869698e-05, + 1.0612054211378563e-05, + 1.0691758689063136e-05, + 1.070494454324944e-05, + 1.0693573130993173e-05, + 1.0762018064269796e-05, + 1.0838039088412188e-05, + 1.0897325410041958e-05, + 1.0975924851663876e-05, + 1.0933063094853424e-05, + 1.078421701095067e-05 + ] + ], + "episode_mean_losses": [ + 7.090340166845029e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8740721518261125e-06, + "observation_loss": 2.8740721518261125e-06, + "chamfer": 2.4376709006901365e-06, + "track": 4.364012795576855e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1578226955607533e-05, + "observation_loss": 3.1530455544270808e-06, + "chamfer": 2.6665441055229167e-06, + "track": 4.865013920607453e-07, + "acceleration": 3.8425179809564725e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3028202122077346e-05, + "observation_loss": 3.232808012398891e-06, + "chamfer": 2.7377793685445795e-06, + "track": 4.950287006977305e-07, + "acceleration": 1.9795394109678455e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0053319783764891e-05, + "observation_loss": 3.6682877180282958e-06, + "chamfer": 3.0939893349568592e-06, + "track": 5.742984967582743e-07, + "acceleration": 6.3850325204839464e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.703047008864814e-06, + "observation_loss": 4.192231699562399e-06, + "chamfer": 3.5163470784027595e-06, + "track": 6.758846211596392e-07, + "acceleration": 1.5108154229892534e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.506748493644409e-06, + "observation_loss": 4.420970071805641e-06, + "chamfer": 3.6985479709983338e-06, + "track": 7.22422214494145e-07, + "acceleration": 1.0857784218387678e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.799361704499461e-06, + "observation_loss": 4.174618425167864e-06, + "chamfer": 3.4972842968272744e-06, + "track": 6.773341283405898e-07, + "acceleration": 6.247433930184343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.603269189829007e-06, + "observation_loss": 4.008360974694369e-06, + "chamfer": 3.3636695206951117e-06, + "track": 6.446914539992576e-07, + "acceleration": 5.94907987760962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.424095550348284e-06, + "observation_loss": 3.942427611036692e-06, + "chamfer": 3.313389470349648e-06, + "track": 6.290383680607192e-07, + "acceleration": 4.816681098418485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.337774953455664e-06, + "observation_loss": 4.0320155676454306e-06, + "chamfer": 3.3873288884933572e-06, + "track": 6.446869065257488e-07, + "acceleration": 3.0575947107536194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.548895049083512e-06, + "observation_loss": 4.405985691846581e-06, + "chamfer": 3.6923697734891903e-06, + "track": 7.13615861513972e-07, + "acceleration": 1.4290957039975183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.94988807986374e-06, + "observation_loss": 4.858342435909435e-06, + "chamfer": 4.055878434883198e-06, + "track": 8.024638873393997e-07, + "acceleration": 9.154585001169835e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.262831109575927e-06, + "observation_loss": 5.163324203749653e-06, + "chamfer": 4.306798018660629e-06, + "track": 8.565259577153483e-07, + "acceleration": 9.950689161541959e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.46972660231404e-06, + "observation_loss": 5.363513537304243e-06, + "chamfer": 4.477486527321162e-06, + "track": 8.86027180513338e-07, + "acceleration": 1.0621315027492528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.418635282694595e-06, + "observation_loss": 5.3580765779770445e-06, + "chamfer": 4.477071797737153e-06, + "track": 8.810049507701478e-07, + "acceleration": 6.05588255098155e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.371844508772483e-06, + "observation_loss": 5.24892038811231e-06, + "chamfer": 4.387821718410123e-06, + "track": 8.610984423285117e-07, + "acceleration": 1.2292399276248034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.094678272143938e-06, + "observation_loss": 4.892533524980536e-06, + "chamfer": 4.0953118514153175e-06, + "track": 7.972217872520559e-07, + "acceleration": 2.021446334765642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.827430075238226e-06, + "observation_loss": 4.505457127379486e-06, + "chamfer": 3.7755353332613595e-06, + "track": 7.29921737274708e-07, + "acceleration": 3.2197277732848306e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.502159754338209e-06, + "observation_loss": 4.331487616582308e-06, + "chamfer": 3.6279768664826406e-06, + "track": 7.035108069430862e-07, + "acceleration": 1.7067209512333648e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.490531864576042e-06, + "observation_loss": 4.332836397225037e-06, + "chamfer": 3.624959163062158e-06, + "track": 7.078774615365546e-07, + "acceleration": 1.5769552419442334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5903489080956206e-06, + "observation_loss": 4.292206540412735e-06, + "chamfer": 3.5899884096579626e-06, + "track": 7.022179033810971e-07, + "acceleration": 2.981423108394665e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.483799330046168e-06, + "observation_loss": 4.144894774071872e-06, + "chamfer": 3.4695490285230335e-06, + "track": 6.753459729225142e-07, + "acceleration": 3.389047549262614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.691592948802281e-06, + "observation_loss": 4.043897206429392e-06, + "chamfer": 3.3912076560227433e-06, + "track": 6.526895504066488e-07, + "acceleration": 6.476955718426325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.9245973059441894e-06, + "observation_loss": 4.056085344927851e-06, + "chamfer": 3.396826741663972e-06, + "track": 6.592584327336226e-07, + "acceleration": 8.685119041729195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.772882221004693e-06, + "observation_loss": 4.118628112337319e-06, + "chamfer": 3.4313090964133153e-06, + "track": 6.873189022371662e-07, + "acceleration": 6.542541655107925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.654206804843852e-06, + "observation_loss": 4.3426925913081504e-06, + "chamfer": 3.5981890960101737e-06, + "track": 7.445037226716522e-07, + "acceleration": 3.1151429880083015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.938801339449128e-06, + "observation_loss": 4.731707576866029e-06, + "chamfer": 3.894432666129433e-06, + "track": 8.372749675800151e-07, + "acceleration": 2.070938478482276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.131328180141281e-06, + "observation_loss": 4.929878741677385e-06, + "chamfer": 4.0453537621942814e-06, + "track": 8.845252068567788e-07, + "acceleration": 2.0144955215073423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.329008672561031e-06, + "observation_loss": 4.884641839453252e-06, + "chamfer": 4.011339569842676e-06, + "track": 8.733022696105763e-07, + "acceleration": 4.443669467946165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.286087343847612e-06, + "observation_loss": 4.859297860093648e-06, + "chamfer": 4.001316028734436e-06, + "track": 8.579817176723736e-07, + "acceleration": 4.267893132237077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.334233719622716e-06, + "observation_loss": 5.067504844191717e-06, + "chamfer": 4.1761313696042635e-06, + "track": 8.913733609006158e-07, + "acceleration": 2.667289606961276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.645908913720632e-06, + "observation_loss": 5.34343871549936e-06, + "chamfer": 4.394534244056558e-06, + "track": 9.489044714428019e-07, + "acceleration": 3.0247008453443414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.840683115820866e-06, + "observation_loss": 5.681798029399943e-06, + "chamfer": 4.666645054385299e-06, + "track": 1.0151527476409683e-06, + "acceleration": 1.588850295775046e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.3649654293840285e-06, + "observation_loss": 5.9384833548392635e-06, + "chamfer": 4.862885361944791e-06, + "track": 1.0755981065813103e-06, + "acceleration": 4.264821313881839e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.950645911274478e-06, + "observation_loss": 5.990687895973679e-06, + "chamfer": 4.906570666207699e-06, + "track": 1.0841171160791419e-06, + "acceleration": 9.599582426744746e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 8.287528544315137e-06, + "observation_loss": 6.018396561557893e-06, + "chamfer": 4.914126293442678e-06, + "track": 1.1042704954888904e-06, + "acceleration": 2.269131755383569e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.183456884580664e-06, + "observation_loss": 6.1998625824344344e-06, + "chamfer": 5.0307098717894405e-06, + "track": 1.1691524832713185e-06, + "acceleration": 1.98359430214623e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.807073754724115e-06, + "observation_loss": 6.3576439970347565e-06, + "chamfer": 5.149095613887766e-06, + "track": 1.2085482694601524e-06, + "acceleration": 2.4494302124367096e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 9.50498360907659e-06, + "observation_loss": 6.093846877774922e-06, + "chamfer": 4.958751560479868e-06, + "track": 1.1350952036082163e-06, + "acceleration": 3.411136731301667e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.090127837727778e-06, + "observation_loss": 5.625723133562133e-06, + "chamfer": 4.595793143380433e-06, + "track": 1.0299299901816994e-06, + "acceleration": 1.4644045904788072e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.073507393011823e-06, + "observation_loss": 5.470832547871396e-06, + "chamfer": 4.473459284781711e-06, + "track": 9.973734904633602e-07, + "acceleration": 6.026747882970085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.73560134600848e-06, + "observation_loss": 5.710988716600696e-06, + "chamfer": 4.645173248718493e-06, + "track": 1.0658155815690407e-06, + "acceleration": 1.0246128567814594e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.431608198909089e-06, + "observation_loss": 5.896983111597365e-06, + "chamfer": 4.770373379869852e-06, + "track": 1.1266098454143503e-06, + "acceleration": 5.346249736248865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.773938821424963e-06, + "observation_loss": 6.088903774070786e-06, + "chamfer": 4.911127689410932e-06, + "track": 1.1777761983466917e-06, + "acceleration": 6.850348768239201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.648549060628284e-06, + "observation_loss": 6.17946398051572e-06, + "chamfer": 4.977163371222559e-06, + "track": 1.2023007229799987e-06, + "acceleration": 4.6908499484743515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.516880603157915e-06, + "observation_loss": 6.248718818824273e-06, + "chamfer": 5.028050964028807e-06, + "track": 1.220667968482303e-06, + "acceleration": 2.681619264421897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.713474249409046e-06, + "observation_loss": 6.399469384632539e-06, + "chamfer": 5.1471888582454994e-06, + "track": 1.2522804127002019e-06, + "acceleration": 3.1400469424625044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.1362778726324905e-06, + "observation_loss": 6.875094641145552e-06, + "chamfer": 5.50619506611838e-06, + "track": 1.3688996887140092e-06, + "acceleration": 2.611832314869389e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.72926341596758e-06, + "observation_loss": 7.483432455046568e-06, + "chamfer": 5.935422450420447e-06, + "track": 1.548009777252446e-06, + "acceleration": 2.4583093249930243e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.094170880212914e-06, + "observation_loss": 7.833054041839205e-06, + "chamfer": 6.1891682889836375e-06, + "track": 1.643885411795054e-06, + "acceleration": 2.611170657473849e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.002877621038351e-06, + "observation_loss": 7.688578989473172e-06, + "chamfer": 6.093781848903745e-06, + "track": 1.5947969131957507e-06, + "acceleration": 3.1429868840859854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.752575584163424e-06, + "observation_loss": 7.470388482033741e-06, + "chamfer": 5.9442750171001535e-06, + "track": 1.5261132375599118e-06, + "acceleration": 2.8218752845532435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.387963250948815e-06, + "observation_loss": 7.273630217241589e-06, + "chamfer": 5.795558536192402e-06, + "track": 1.4780719084228622e-06, + "acceleration": 1.1433296265295212e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1405834205506835e-06, + "observation_loss": 7.092341093084542e-06, + "chamfer": 5.6593166846141685e-06, + "track": 1.4330242947835359e-06, + "acceleration": 4.82425335235348e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.142168215068523e-06, + "observation_loss": 7.077358532114886e-06, + "chamfer": 5.643918939313153e-06, + "track": 1.433439592801733e-06, + "acceleration": 6.480990322188518e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.208849183371058e-06, + "observation_loss": 7.116018423403148e-06, + "chamfer": 5.6630733524798416e-06, + "track": 1.452945070923306e-06, + "acceleration": 9.283090207645728e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.238102625706233e-06, + "observation_loss": 7.185049071267713e-06, + "chamfer": 5.710327059205156e-06, + "track": 1.4747217846888816e-06, + "acceleration": 5.305349759510136e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.465452199539868e-06, + "observation_loss": 7.263853603944881e-06, + "chamfer": 5.75498006583075e-06, + "track": 1.5088734244272928e-06, + "acceleration": 2.0159839664302126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.872522473917343e-06, + "observation_loss": 7.343959168792935e-06, + "chamfer": 5.816955763293663e-06, + "track": 1.5270032918124343e-06, + "acceleration": 5.285634188112454e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.585706382291391e-06, + "observation_loss": 7.488701157853939e-06, + "chamfer": 5.9125450206920505e-06, + "track": 1.5761560234750505e-06, + "acceleration": 1.0970056791848037e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.23168863664614e-06, + "observation_loss": 7.648237442481332e-06, + "chamfer": 6.037238108547172e-06, + "track": 1.6109991065604845e-06, + "acceleration": 1.5834508531042957e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.769337910052855e-06, + "observation_loss": 7.823774467397016e-06, + "chamfer": 6.172446774144191e-06, + "track": 1.651327352192311e-06, + "acceleration": 9.45563840559771e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.601145054853987e-06, + "observation_loss": 8.200084266718477e-06, + "chamfer": 6.445101007557241e-06, + "track": 1.754983145474398e-06, + "acceleration": 4.0106098708747595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.017886441142764e-06, + "observation_loss": 8.716238880879246e-06, + "chamfer": 6.797793957957765e-06, + "track": 1.9184453776688315e-06, + "acceleration": 3.016475886852277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.43884424486896e-06, + "observation_loss": 9.315395800513215e-06, + "chamfer": 7.205707788671134e-06, + "track": 2.1096875570947304e-06, + "acceleration": 1.2344888489224104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.746780960995238e-06, + "observation_loss": 9.649409548728727e-06, + "chamfer": 7.433118753397139e-06, + "track": 2.216290340584237e-06, + "acceleration": 9.737146200450297e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0167048458242789e-05, + "observation_loss": 9.876443982648198e-06, + "chamfer": 7.5905809353571385e-06, + "track": 2.2858632746647345e-06, + "acceleration": 2.9060427664262534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0287290024280082e-05, + "observation_loss": 1.0104588000103831e-05, + "chamfer": 7.724950592091773e-06, + "track": 2.3796378627594095e-06, + "acceleration": 1.8270166890488326e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0347638635721523e-05, + "observation_loss": 1.022287233354291e-05, + "chamfer": 7.79525453253882e-06, + "track": 2.427617573630414e-06, + "acceleration": 1.247662737569044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0461141755513381e-05, + "observation_loss": 1.0113290954905096e-05, + "chamfer": 7.721351721556857e-06, + "track": 2.3919394607219147e-06, + "acceleration": 3.4785060165631876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.069463360181544e-05, + "observation_loss": 9.82438723440282e-06, + "chamfer": 7.542090315837413e-06, + "track": 2.2822969185654074e-06, + "acceleration": 8.702465947862947e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.020704712573206e-05, + "observation_loss": 9.691206287243403e-06, + "chamfer": 7.447961252182722e-06, + "track": 2.2432445803133305e-06, + "acceleration": 5.158407816452382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.761507499206346e-06, + "observation_loss": 9.55709856498288e-06, + "chamfer": 7.3515675467206165e-06, + "track": 2.205531245635939e-06, + "acceleration": 2.0440931791654293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.551598850521259e-06, + "observation_loss": 9.321409379481338e-06, + "chamfer": 7.179060503403889e-06, + "track": 2.1423491034511244e-06, + "acceleration": 2.3018947103992105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.822612810239661e-06, + "observation_loss": 9.127168596023694e-06, + "chamfer": 7.046657628961839e-06, + "track": 2.0805111944355303e-06, + "acceleration": 6.954446121198998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3327764463610947e-05, + "observation_loss": 9.19395279197488e-06, + "chamfer": 7.061415089992806e-06, + "track": 2.1325381567294244e-06, + "acceleration": 4.133812126383418e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1680188436002936e-05, + "observation_loss": 9.3962353275856e-06, + "chamfer": 7.192822522483766e-06, + "track": 2.2034123503544834e-06, + "acceleration": 2.2839528810436605e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.0978116733895149e-05, + "observation_loss": 9.408703590452205e-06, + "chamfer": 7.212409855128499e-06, + "track": 2.196293962697382e-06, + "acceleration": 1.569413029756106e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.084836640075082e-05, + "observation_loss": 9.431224498257507e-06, + "chamfer": 7.205114798125578e-06, + "track": 2.226109927505604e-06, + "acceleration": 1.4171417888064752e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0362628017901443e-05, + "observation_loss": 9.47688204178121e-06, + "chamfer": 7.231553809106117e-06, + "track": 2.245328005301417e-06, + "acceleration": 8.857455213728826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0324006325390656e-05, + "observation_loss": 9.618594049243256e-06, + "chamfer": 7.3143983172485605e-06, + "track": 2.3041959593683714e-06, + "acceleration": 7.054124466776557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0235115041723475e-05, + "observation_loss": 9.764545211510267e-06, + "chamfer": 7.383469437627355e-06, + "track": 2.381076001256588e-06, + "acceleration": 4.705700575868832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0100287909153849e-05, + "observation_loss": 9.964699529518839e-06, + "chamfer": 7.513853233831469e-06, + "track": 2.45084629568737e-06, + "acceleration": 1.3558842226757406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.033427906804718e-05, + "observation_loss": 1.0256521818519104e-05, + "chamfer": 7.7165004768176e-06, + "track": 2.5400215690751793e-06, + "acceleration": 7.775716426294821e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0570330232440028e-05, + "observation_loss": 1.0463783837622032e-05, + "chamfer": 7.85680822446011e-06, + "track": 2.606975840535597e-06, + "acceleration": 1.0654650139940713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0657509847078472e-05, + "observation_loss": 1.0545537406869698e-05, + "chamfer": 7.899327101767994e-06, + "track": 2.6462105324753793e-06, + "acceleration": 1.1197255389561178e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0764444596134126e-05, + "observation_loss": 1.0612054211378563e-05, + "chamfer": 7.94205152487848e-06, + "track": 2.6700024591264082e-06, + "acceleration": 1.5239081108120445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.084737687051529e-05, + "observation_loss": 1.0691758689063136e-05, + "chamfer": 7.982961506058928e-06, + "track": 2.708797183004208e-06, + "acceleration": 1.5561856514523242e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0804019439092372e-05, + "observation_loss": 1.070494454324944e-05, + "chamfer": 7.982594070199411e-06, + "track": 2.722350473050028e-06, + "acceleration": 9.90750237406246e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0963829481624998e-05, + "observation_loss": 1.0693573130993173e-05, + "chamfer": 7.973124411364552e-06, + "track": 2.7204491743759718e-06, + "acceleration": 2.702564927403728e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.090496971301036e-05, + "observation_loss": 1.0762018064269796e-05, + "chamfer": 8.012256330403034e-06, + "track": 2.7497612791194115e-06, + "acceleration": 1.4295149242116167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0943835150101222e-05, + "observation_loss": 1.0838039088412188e-05, + "chamfer": 8.047521987464279e-06, + "track": 2.790516646200558e-06, + "acceleration": 1.0579646669839349e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0986546840285882e-05, + "observation_loss": 1.0897325410041958e-05, + "chamfer": 8.084761248028371e-06, + "track": 2.8125646167609375e-06, + "acceleration": 8.922177840986478e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1054959031753242e-05, + "observation_loss": 1.0975924851663876e-05, + "chamfer": 8.128921763272956e-06, + "track": 2.847002861017245e-06, + "acceleration": 7.903402376996382e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.104069178836653e-05, + "observation_loss": 1.0933063094853424e-05, + "chamfer": 8.105780580081046e-06, + "track": 2.8272822873987025e-06, + "acceleration": 1.0762884272708106e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0878454304474872e-05, + "observation_loss": 1.078421701095067e-05, + "chamfer": 8.011363206605893e-06, + "track": 2.772854259092128e-06, + "acceleration": 9.423729352420196e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.302302018610893e-06, + "chamfer_mean": 5.579650640186173e-06, + "track_mean": 1.5106895322839857e-06, + "acceleration_mean": 1.2119618918079074e-06, + "observation_score": 7.090340166845029e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4289774490007403 + }, + "score_arrays_file": "pass_scores/pass_end_0340.npz", + "score_arrays_sha256": "4b6aa8095117e87b831059e9fcc2eb599558045b5a36c265b39ee1de7c69bbb0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0341.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0341.json new file mode 100644 index 0000000000000000000000000000000000000000..6e26809db6297d9b533cd980e96ae04337759385 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0341.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32736, + "completed_passes": 341, + "snapshot": "pass_end_0341", + "candidate": true, + "snapshot_arrays_sha256": "9910056f420ca817d1c7ca41a9a7a076f47a87d4689c97ffae0acea5038e399f", + "score": 7.087580208064992e-06, + "score_result": { + "score": 7.087580208064992e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.874283154596924e-06, + 3.1529275474895258e-06, + 3.2315415410266723e-06, + 3.666868451546179e-06, + 4.190797426417703e-06, + 4.420098775881343e-06, + 4.17387263951241e-06, + 4.007040843134746e-06, + 3.9407987060258165e-06, + 4.029621777590364e-06, + 4.4030207391188014e-06, + 4.854927283304278e-06, + 5.159841748536564e-06, + 5.359492206480354e-06, + 5.353839696908835e-06, + 5.2447903726715595e-06, + 4.888573585049016e-06, + 4.501223884290084e-06, + 4.3280206227791496e-06, + 4.329882358433679e-06, + 4.289187927497551e-06, + 4.140210421610391e-06, + 4.0380436985287815e-06, + 4.051570158480899e-06, + 4.116570835321909e-06, + 4.342515239841305e-06, + 4.7301709855673835e-06, + 4.924278073303867e-06, + 4.878046638623346e-06, + 4.854390681430232e-06, + 5.0667736104514915e-06, + 5.344913461158285e-06, + 5.686666554538533e-06, + 5.944948952674167e-06, + 5.997427251713816e-06, + 6.020173259457806e-06, + 6.195367859618273e-06, + 6.3556531131325755e-06, + 6.096743163652718e-06, + 5.628803592117038e-06, + 5.472366865433287e-06, + 5.708186563424533e-06, + 5.892106401006458e-06, + 6.085762379370863e-06, + 6.17756586507312e-06, + 6.245268650673097e-06, + 6.396049684553873e-06, + 6.869559001643211e-06, + 7.474188350897748e-06, + 7.824568456271663e-06, + 7.681277566007338e-06, + 7.463482234015828e-06, + 7.268263289006427e-06, + 7.088578058755957e-06, + 7.074665063555585e-06, + 7.1145891524793115e-06, + 7.185144568211399e-06, + 7.264784017024795e-06, + 7.345980520767625e-06, + 7.491647011192981e-06, + 7.652030035387725e-06, + 7.82879851612961e-06, + 8.2066108006984e-06, + 8.723685823497362e-06, + 9.324003258370794e-06, + 9.658969247539062e-06, + 9.886557563731913e-06, + 1.01165760497679e-05, + 1.0235855370410718e-05, + 1.0126002052857075e-05, + 9.836107892624568e-06, + 9.699984730104916e-06, + 9.562352715875022e-06, + 9.323787708126474e-06, + 9.124043572228402e-06, + 9.191244316753e-06, + 9.390623745275661e-06, + 9.404837328474969e-06, + 9.423178198630922e-06, + 9.466116352996323e-06, + 9.606483217794448e-06, + 9.753089216246735e-06, + 9.951523679774255e-06, + 1.0242813914373983e-05, + 1.0449964065628592e-05, + 1.0531875886954367e-05, + 1.0598430890240707e-05, + 1.0676911188056692e-05, + 1.0690785529732239e-05, + 1.0679651495593134e-05, + 1.0747826308943331e-05, + 1.0823783668456599e-05, + 1.0883179129450582e-05, + 1.0962108717649244e-05, + 1.0919027772615664e-05, + 1.0770927474368364e-05 + ] + ], + "episode_mean_losses": [ + 7.087580208064992e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.874283154596924e-06, + "observation_loss": 2.874283154596924e-06, + "chamfer": 2.4378355192311574e-06, + "track": 4.364476637874759e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.158629963058047e-05, + "observation_loss": 3.1529275474895258e-06, + "chamfer": 2.666440195753239e-06, + "track": 4.864872380494489e-07, + "acceleration": 3.8433372537838295e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.302475149917882e-05, + "observation_loss": 3.2315415410266723e-06, + "chamfer": 2.7367241273168474e-06, + "track": 4.948174137098249e-07, + "acceleration": 1.9793209503404796e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0052526704384945e-05, + "observation_loss": 3.666868451546179e-06, + "chamfer": 3.092806764470879e-06, + "track": 5.74061743918719e-07, + "acceleration": 6.385658252838766e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.699086159438593e-06, + "observation_loss": 4.190797426417703e-06, + "chamfer": 3.5151590509485686e-06, + "track": 6.756384891559719e-07, + "acceleration": 1.5082886193340528e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.5054360927897505e-06, + "observation_loss": 4.420098775881343e-06, + "chamfer": 3.6978137814003276e-06, + "track": 7.22284994481015e-07, + "acceleration": 1.0853374305952457e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.797630936081987e-06, + "observation_loss": 4.17387263951241e-06, + "chamfer": 3.496626959531568e-06, + "track": 6.772457368242613e-07, + "acceleration": 6.237582965695765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.604787591233617e-06, + "observation_loss": 4.007040843134746e-06, + "chamfer": 3.3625301512074657e-06, + "track": 6.445106919272803e-07, + "acceleration": 5.977465775686142e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.423225618666038e-06, + "observation_loss": 3.9407987060258165e-06, + "chamfer": 3.3119918043666985e-06, + "track": 6.288069585025369e-07, + "acceleration": 4.824268557968026e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.3349859879526775e-06, + "observation_loss": 4.029621777590364e-06, + "chamfer": 3.3853161767183337e-06, + "track": 6.443056577154493e-07, + "acceleration": 3.0536415351889445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.546184300124878e-06, + "observation_loss": 4.4030207391188014e-06, + "chamfer": 3.6899202768836403e-06, + "track": 7.131006327654177e-07, + "acceleration": 1.4316336205411062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.946478384226793e-06, + "observation_loss": 4.854927283304278e-06, + "chamfer": 4.053081738675246e-06, + "track": 8.018454309421941e-07, + "acceleration": 9.155106539537883e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.259888894215692e-06, + "observation_loss": 5.159841748536564e-06, + "chamfer": 4.303965397411957e-06, + "track": 8.558764079680259e-07, + "acceleration": 1.0004696804344348e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.465837602969259e-06, + "observation_loss": 5.359492206480354e-06, + "chamfer": 4.474205979931867e-06, + "track": 8.852861697050685e-07, + "acceleration": 1.0634542491061438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.414314728113823e-06, + "observation_loss": 5.353839696908835e-06, + "chamfer": 4.47361753685982e-06, + "track": 8.802220463621779e-07, + "acceleration": 6.047494593985903e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.367814083001576e-06, + "observation_loss": 5.2447903726715595e-06, + "chamfer": 4.384450676298002e-06, + "track": 8.603399237472331e-07, + "acceleration": 1.2302393770369235e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.090892045700457e-06, + "observation_loss": 4.888573585049016e-06, + "chamfer": 4.092073140782304e-06, + "track": 7.965004442667123e-07, + "acceleration": 2.0231829012118396e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.824380539503181e-06, + "observation_loss": 4.501223884290084e-06, + "chamfer": 3.772028321691323e-06, + "track": 7.291956762855989e-07, + "acceleration": 3.2315671205651597e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.499783244682476e-06, + "observation_loss": 4.3280206227791496e-06, + "chamfer": 3.625076033131336e-06, + "track": 7.029447033346514e-07, + "acceleration": 1.7176273559016408e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.485606950765941e-06, + "observation_loss": 4.329882358433679e-06, + "chamfer": 3.622483973231283e-06, + "track": 7.073984988892335e-07, + "acceleration": 1.5572462075397198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.588046977005433e-06, + "observation_loss": 4.289187927497551e-06, + "chamfer": 3.5874525110557443e-06, + "track": 7.017354732852255e-07, + "acceleration": 2.988589926644636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.486033049033722e-06, + "observation_loss": 4.140210421610391e-06, + "chamfer": 3.4656666230148403e-06, + "track": 6.745437985955505e-07, + "acceleration": 3.4582271268845943e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.699847977462923e-06, + "observation_loss": 4.0380436985287815e-06, + "chamfer": 3.3863154840219067e-06, + "track": 6.517280439766182e-07, + "acceleration": 6.618042220907228e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.934052412863821e-06, + "observation_loss": 4.051570158480899e-06, + "chamfer": 3.393012775632087e-06, + "track": 6.585573828488123e-07, + "acceleration": 8.824824817565968e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.77080311611644e-06, + "observation_loss": 4.116570835321909e-06, + "chamfer": 3.4295087516511558e-06, + "track": 6.870619131404965e-07, + "acceleration": 6.542324513247877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.652545158023713e-06, + "observation_loss": 4.342515239841305e-06, + "chamfer": 3.5979062431579223e-06, + "track": 7.446088261531258e-07, + "acceleration": 3.1002974765215185e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.936508048558608e-06, + "observation_loss": 4.7301709855673835e-06, + "chamfer": 3.893203029292636e-06, + "track": 8.369681268050044e-07, + "acceleration": 2.0633729036489967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.128189968672814e-06, + "observation_loss": 4.924278073303867e-06, + "chamfer": 4.041031388624106e-06, + "track": 8.832465141495049e-07, + "acceleration": 2.03911682206126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.325916845322354e-06, + "observation_loss": 4.878046638623346e-06, + "chamfer": 4.00596582039725e-06, + "track": 8.720807613826764e-07, + "acceleration": 4.4787012143387983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2873947424814105e-06, + "observation_loss": 4.854390681430232e-06, + "chamfer": 3.997243766207248e-06, + "track": 8.571471425966593e-07, + "acceleration": 4.330042315814353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.343618795450311e-06, + "observation_loss": 5.0667736104514915e-06, + "chamfer": 4.175393314653775e-06, + "track": 8.913803526411357e-07, + "acceleration": 2.768449860468536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.644962584483437e-06, + "observation_loss": 5.344913461158285e-06, + "chamfer": 4.395330961415311e-06, + "track": 9.49582329212717e-07, + "acceleration": 3.000492938554089e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.830681402585469e-06, + "observation_loss": 5.686666554538533e-06, + "chamfer": 4.670282123697689e-06, + "track": 1.0163844308408443e-06, + "acceleration": 1.4401499015548325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.3249963204725645e-06, + "observation_loss": 5.944948952674167e-06, + "chamfer": 4.867696134169819e-06, + "track": 1.0772529321911861e-06, + "acceleration": 3.800472541115596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.866406238259515e-06, + "observation_loss": 5.997427251713816e-06, + "chamfer": 4.911987161904108e-06, + "track": 1.0854403171833837e-06, + "acceleration": 8.689791002325364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 8.15400926512666e-06, + "observation_loss": 6.020173259457806e-06, + "chamfer": 4.916163106827298e-06, + "track": 1.104010152630508e-06, + "acceleration": 2.1338362330425298e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.114086995192338e-06, + "observation_loss": 6.195367859618273e-06, + "chamfer": 5.028096438763896e-06, + "track": 1.1672714208543766e-06, + "acceleration": 1.9187189082003897e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.852241990098264e-06, + "observation_loss": 6.3556531131325755e-06, + "chamfer": 5.148054697201587e-06, + "track": 1.2075983022441505e-06, + "acceleration": 2.496588649592013e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 9.698466783447657e-06, + "observation_loss": 6.096743163652718e-06, + "chamfer": 4.961167178407777e-06, + "track": 1.1355760989317787e-06, + "acceleration": 3.6017233924212633e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.327753792196745e-06, + "observation_loss": 5.628803592117038e-06, + "chamfer": 4.598112354869954e-06, + "track": 1.030691350933921e-06, + "acceleration": 1.6989500863928697e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.12710800851346e-06, + "observation_loss": 5.472366865433287e-06, + "chamfer": 4.474562956602313e-06, + "track": 9.978041362046497e-07, + "acceleration": 6.547410862367542e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.849675628473051e-06, + "observation_loss": 5.708186563424533e-06, + "chamfer": 4.642967724066693e-06, + "track": 1.06521883935784e-06, + "acceleration": 1.1414888376748422e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.5585909396759234e-06, + "observation_loss": 5.892106401006458e-06, + "chamfer": 4.76672494187369e-06, + "track": 1.125381572819606e-06, + "acceleration": 6.66484595512884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.762234988855198e-06, + "observation_loss": 6.085762379370863e-06, + "chamfer": 4.908672508463496e-06, + "track": 1.1770898709073663e-06, + "acceleration": 6.764724957974977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.798855793022085e-06, + "observation_loss": 6.17756586507312e-06, + "chamfer": 4.975590854883194e-06, + "track": 1.201975123876764e-06, + "acceleration": 6.21289814262127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.553918410645565e-06, + "observation_loss": 6.245268650673097e-06, + "chamfer": 5.025397058489034e-06, + "track": 1.2198714784972253e-06, + "acceleration": 3.08649759972468e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.726714673277456e-06, + "observation_loss": 6.396049684553873e-06, + "chamfer": 5.144638635101728e-06, + "track": 1.2514110494521447e-06, + "acceleration": 3.3066510241042124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.157252184697427e-06, + "observation_loss": 6.869559001643211e-06, + "chamfer": 5.501946816366399e-06, + "track": 1.3676124126504874e-06, + "acceleration": 2.876930125239596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.727892807452008e-06, + "observation_loss": 7.474188350897748e-06, + "chamfer": 5.928587142989272e-06, + "track": 1.5456013215953135e-06, + "acceleration": 2.5370451339767897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.093473297776654e-06, + "observation_loss": 7.824568456271663e-06, + "chamfer": 6.183030563988723e-06, + "track": 1.6415377785961027e-06, + "acceleration": 2.689045004444779e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.02238082542317e-06, + "observation_loss": 7.681277566007338e-06, + "chamfer": 6.088501777412603e-06, + "track": 1.5927754475342226e-06, + "acceleration": 3.4110308888557483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.746213668724522e-06, + "observation_loss": 7.463482234015828e-06, + "chamfer": 5.939044513070257e-06, + "track": 1.5244377209455706e-06, + "acceleration": 2.8273137786527514e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.3922537922044285e-06, + "observation_loss": 7.268263289006427e-06, + "chamfer": 5.791414878331125e-06, + "track": 1.4768484106753021e-06, + "acceleration": 1.239906595174034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.135881787689868e-06, + "observation_loss": 7.088578058755957e-06, + "chamfer": 5.6563003454357386e-06, + "track": 1.432277713320218e-06, + "acceleration": 4.730356195636887e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.139505669329083e-06, + "observation_loss": 7.074665063555585e-06, + "chamfer": 5.641804818878882e-06, + "track": 1.4328601309898659e-06, + "acceleration": 6.48405347192238e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.205924703157507e-06, + "observation_loss": 7.1145891524793115e-06, + "chamfer": 5.661848717863904e-06, + "track": 1.4527405483022449e-06, + "acceleration": 9.133574963016144e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.236807959998259e-06, + "observation_loss": 7.185144568211399e-06, + "chamfer": 5.710315235774033e-06, + "track": 1.474829446124204e-06, + "acceleration": 5.166330652173201e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.468191597581608e-06, + "observation_loss": 7.264784017024795e-06, + "chamfer": 5.755573511123657e-06, + "track": 1.509210619587975e-06, + "acceleration": 2.0340769424365135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.876536074036267e-06, + "observation_loss": 7.345980520767625e-06, + "chamfer": 5.818362296849955e-06, + "track": 1.5276182239176705e-06, + "acceleration": 5.305551553647092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.59062038216507e-06, + "observation_loss": 7.491647011192981e-06, + "chamfer": 5.914685516472673e-06, + "track": 1.5769614947203081e-06, + "acceleration": 1.0989733709720895e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.241675797966309e-06, + "observation_loss": 7.652030035387725e-06, + "chamfer": 6.039967502147192e-06, + "track": 1.6120628743010457e-06, + "acceleration": 1.5896459899522597e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.778431947575882e-06, + "observation_loss": 7.82879851612961e-06, + "chamfer": 6.176113402034389e-06, + "track": 1.6526853414688958e-06, + "acceleration": 9.496334882896917e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.609386895841453e-06, + "observation_loss": 8.2066108006984e-06, + "chamfer": 6.449782631534617e-06, + "track": 1.756828623911133e-06, + "acceleration": 4.027756688174122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.026426596392412e-06, + "observation_loss": 8.723685823497362e-06, + "chamfer": 6.802960797358537e-06, + "track": 1.9207250261388253e-06, + "acceleration": 3.02740886581887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.448041055293288e-06, + "observation_loss": 9.324003258370794e-06, + "chamfer": 7.211621323222062e-06, + "track": 2.112381480401382e-06, + "acceleration": 1.2403744165112585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.75668808678165e-06, + "observation_loss": 9.658969247539062e-06, + "chamfer": 7.4396393756615e-06, + "track": 2.2193300992512377e-06, + "acceleration": 9.771846976036613e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0177176591241732e-05, + "observation_loss": 9.886557563731913e-06, + "chamfer": 7.597429430461489e-06, + "track": 2.289128133270424e-06, + "acceleration": 2.906189990881103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0299700988980476e-05, + "observation_loss": 1.01165760497679e-05, + "chamfer": 7.73335705162026e-06, + "track": 2.383218770773965e-06, + "acceleration": 1.8312537974907173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0361109161749482e-05, + "observation_loss": 1.0235855370410718e-05, + "chamfer": 7.804424967616796e-06, + "track": 2.4314299480465706e-06, + "acceleration": 1.2525408976671315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0475256203790195e-05, + "observation_loss": 1.0126002052857075e-05, + "chamfer": 7.730172001174651e-06, + "track": 2.3958302790560992e-06, + "acceleration": 3.49254520415343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0711010872910265e-05, + "observation_loss": 9.836107892624568e-06, + "chamfer": 7.5503558036871254e-06, + "track": 2.2857520889374427e-06, + "acceleration": 8.749029234422778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0220855074294377e-05, + "observation_loss": 9.699984730104916e-06, + "chamfer": 7.454138085449813e-06, + "track": 2.2458464172814274e-06, + "acceleration": 5.20870457876299e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.768930794962216e-06, + "observation_loss": 9.562352715875022e-06, + "chamfer": 7.355255092988955e-06, + "track": 2.207097395512392e-06, + "acceleration": 2.0657824961745064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.556095392326824e-06, + "observation_loss": 9.323787708126474e-06, + "chamfer": 7.18055889592506e-06, + "track": 2.1432290395750897e-06, + "acceleration": 2.3230761314607662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.815807061386295e-06, + "observation_loss": 9.124043572228402e-06, + "chamfer": 7.044547601253726e-06, + "track": 2.079496425722027e-06, + "acceleration": 6.917638302184059e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.326001529378118e-05, + "observation_loss": 9.191244316753e-06, + "chamfer": 7.06032415109803e-06, + "track": 2.1309206204023212e-06, + "acceleration": 4.06877097702818e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1689453458529897e-05, + "observation_loss": 9.390623745275661e-06, + "chamfer": 7.18890532880323e-06, + "track": 2.2017186438461067e-06, + "acceleration": 2.298829940627911e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1019932571798563e-05, + "observation_loss": 9.404837328474969e-06, + "chamfer": 7.209851901279762e-06, + "track": 2.194985881942557e-06, + "acceleration": 1.6150955843841075e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0890105841099285e-05, + "observation_loss": 9.423178198630922e-06, + "chamfer": 7.199507308541797e-06, + "track": 2.2236713448364753e-06, + "acceleration": 1.4669273014078499e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.039764811139321e-05, + "observation_loss": 9.466116352996323e-06, + "chamfer": 7.223749435070204e-06, + "track": 2.242367145299795e-06, + "acceleration": 9.315321563008183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0332823876524344e-05, + "observation_loss": 9.606483217794448e-06, + "chamfer": 7.30620058675413e-06, + "track": 2.3002828584139934e-06, + "acceleration": 7.263403176693828e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0231638952973299e-05, + "observation_loss": 9.753089216246735e-06, + "chamfer": 7.375866516667884e-06, + "track": 2.377222472205176e-06, + "acceleration": 4.785493388226314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0090066098200623e-05, + "observation_loss": 9.951523679774255e-06, + "chamfer": 7.505093435611343e-06, + "track": 2.4464302441629115e-06, + "acceleration": 1.3854221947440237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0320627552573569e-05, + "observation_loss": 1.0242813914373983e-05, + "chamfer": 7.707213626417797e-06, + "track": 2.53560006058251e-06, + "acceleration": 7.781392952210808e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0558084795775358e-05, + "observation_loss": 1.0449964065628592e-05, + "chamfer": 7.847636879887432e-06, + "track": 2.6023269583674846e-06, + "acceleration": 1.0812037487539783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0645585462043528e-05, + "observation_loss": 1.0531875886954367e-05, + "chamfer": 7.890348570072092e-06, + "track": 2.641527771629626e-06, + "acceleration": 1.1370935482091227e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0752140951808542e-05, + "observation_loss": 1.0598430890240707e-05, + "chamfer": 7.933189408504404e-06, + "track": 2.665241709109978e-06, + "acceleration": 1.5371018946552795e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0833091437234543e-05, + "observation_loss": 1.0676911188056692e-05, + "chamfer": 7.973062565724831e-06, + "track": 2.7038486223318614e-06, + "acceleration": 1.561798796956282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0791391105158255e-05, + "observation_loss": 1.0690785529732239e-05, + "chamfer": 7.973357242008206e-06, + "track": 2.7174280603503576e-06, + "acceleration": 1.0060592359195653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0951945114356931e-05, + "observation_loss": 1.0679651495593134e-05, + "chamfer": 7.964081305544823e-06, + "track": 2.7155699626746355e-06, + "acceleration": 2.722933345467027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0892788850469515e-05, + "observation_loss": 1.0747826308943331e-05, + "chamfer": 8.003018592717126e-06, + "track": 2.7448074888525298e-06, + "acceleration": 1.449629394301155e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0930597454716917e-05, + "observation_loss": 1.0823783668456599e-05, + "chamfer": 8.0382478699903e-06, + "track": 2.785536025839974e-06, + "acceleration": 1.0681356599206993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0972146810672712e-05, + "observation_loss": 1.0883179129450582e-05, + "chamfer": 8.075602636381518e-06, + "track": 2.8075767204427393e-06, + "acceleration": 8.896742542674474e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1040850040444639e-05, + "observation_loss": 1.0962108717649244e-05, + "chamfer": 8.120136953948531e-06, + "track": 2.8419722184480634e-06, + "acceleration": 7.874160701248911e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1026488209608942e-05, + "observation_loss": 1.0919027772615664e-05, + "chamfer": 8.0967283793143e-06, + "track": 2.822299393301364e-06, + "acceleration": 1.0746035172815027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0865162948903162e-05, + "observation_loss": 1.0770927474368364e-05, + "chamfer": 8.002838512766175e-06, + "track": 2.7680894163495395e-06, + "acceleration": 9.423536795338805e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.30916632565959e-06, + "chamfer_mean": 5.5776978484800566e-06, + "track_mean": 1.5098824072505106e-06, + "acceleration_mean": 1.2215860981656945e-06, + "observation_score": 7.087580208064992e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4282466260010551 + }, + "score_arrays_file": "pass_scores/pass_end_0341.npz", + "score_arrays_sha256": "16788a5e171cf179143e1ce7347bd242da22787c7467538cb2662fcd6700a912" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0342.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0342.json new file mode 100644 index 0000000000000000000000000000000000000000..ccbd1ae44bf4600c60429874ae4fcd77b2ae14c3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0342.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32832, + "completed_passes": 342, + "snapshot": "pass_end_0342", + "candidate": true, + "snapshot_arrays_sha256": "96fba8cfe01875767ff80392fd886765cba65f663162eb75bc89cd12b0d7432f", + "score": 7.0822860559853025e-06, + "score_result": { + "score": 7.0822860559853025e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.874541678465903e-06, + 3.1527736155112507e-06, + 3.230437869206071e-06, + 3.665801841634675e-06, + 4.189715582469944e-06, + 4.419930519361515e-06, + 4.173773959337268e-06, + 4.005848495580722e-06, + 3.939182533940766e-06, + 4.027323939226335e-06, + 4.400643319968367e-06, + 4.852542588196229e-06, + 5.157093255547807e-06, + 5.3564945119433105e-06, + 5.350751962396316e-06, + 5.241687631496461e-06, + 4.885532689513639e-06, + 4.497660938795889e-06, + 4.324963811086491e-06, + 4.327331225795206e-06, + 4.2865658542723395e-06, + 4.136160896450747e-06, + 4.032607648696285e-06, + 4.047365109727252e-06, + 4.11445807912969e-06, + 4.341491148807108e-06, + 4.726996849058196e-06, + 4.917330443277024e-06, + 4.87044144392712e-06, + 4.8482916099601425e-06, + 5.064980541646946e-06, + 5.3456360546988435e-06, + 5.690754733223002e-06, + 5.9525100368773565e-06, + 6.005140676279552e-06, + 6.01902092967066e-06, + 6.180412128742319e-06, + 6.342687356664101e-06, + 6.097701771068387e-06, + 5.635081379296025e-06, + 5.473889814311406e-06, + 5.703827355318936e-06, + 5.886065082449932e-06, + 6.082148502173368e-06, + 6.1751093198836315e-06, + 6.2419862842943985e-06, + 6.392509021679871e-06, + 6.864359420433175e-06, + 7.466445822501555e-06, + 7.818356607458554e-06, + 7.676129825995304e-06, + 7.457695119228447e-06, + 7.262603503477294e-06, + 7.082608135533519e-06, + 7.068574632285163e-06, + 7.109303624019958e-06, + 7.1808490247349255e-06, + 7.261202881636564e-06, + 7.343667675741017e-06, + 7.4904082794091664e-06, + 7.651292435184587e-06, + 7.829016794858035e-06, + 8.208579856727738e-06, + 8.726460691832472e-06, + 9.328110536444001e-06, + 9.663637683843262e-06, + 9.890864930639509e-06, + 1.0122534149559215e-05, + 1.024163248075638e-05, + 1.013023666018853e-05, + 9.838900950853713e-06, + 9.699133443064056e-06, + 9.558030797052197e-06, + 9.317165677202865e-06, + 9.110381142818369e-06, + 9.179728294839151e-06, + 9.374854926136322e-06, + 9.393796972290147e-06, + 9.4079314294504e-06, + 9.449173376196995e-06, + 9.58931923378259e-06, + 9.737424079503398e-06, + 9.935365596902557e-06, + 1.0225624464510474e-05, + 1.0432904673507437e-05, + 1.0515071153349709e-05, + 1.0581185051705688e-05, + 1.065881133399671e-05, + 1.067348784999922e-05, + 1.0662340173439588e-05, + 1.0729374480433762e-05, + 1.0805522833834402e-05, + 1.0865349395317025e-05, + 1.0944231689791195e-05, + 1.0901052519329824e-05, + 1.0753527021734044e-05 + ] + ], + "episode_mean_losses": [ + 7.0822860559853025e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.874541678465903e-06, + "observation_loss": 2.874541678465903e-06, + "chamfer": 2.438038563923328e-06, + "track": 4.3650322822941234e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.159643140155822e-05, + "observation_loss": 3.1527736155112507e-06, + "chamfer": 2.666306272658403e-06, + "track": 4.864673996962665e-07, + "acceleration": 3.844365710392594e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3023252651910298e-05, + "observation_loss": 3.230437869206071e-06, + "chamfer": 2.7358053102943813e-06, + "track": 4.946325020682707e-07, + "acceleration": 1.9792814782704227e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0050178389064968e-05, + "observation_loss": 3.665801841634675e-06, + "chamfer": 3.091911594310659e-06, + "track": 5.738901904805971e-07, + "acceleration": 6.384376774803968e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.696665539289825e-06, + "observation_loss": 4.189715582469944e-06, + "chamfer": 3.5142431897838833e-06, + "track": 6.754721653123852e-07, + "acceleration": 1.5069497294462053e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.50495860807132e-06, + "observation_loss": 4.419930519361515e-06, + "chamfer": 3.697632337207324e-06, + "track": 7.222984095278662e-07, + "acceleration": 1.0850279750229674e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.796152097696904e-06, + "observation_loss": 4.173773959337268e-06, + "chamfer": 3.4964862152264686e-06, + "track": 6.772877441107994e-07, + "acceleration": 6.223782520464738e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.606335551216034e-06, + "observation_loss": 4.005848495580722e-06, + "chamfer": 3.3614860512898304e-06, + "track": 6.443625011343102e-07, + "acceleration": 6.00486885105056e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4223943405086175e-06, + "observation_loss": 3.939182533940766e-06, + "chamfer": 3.3106000500993105e-06, + "track": 6.285824269980367e-07, + "acceleration": 4.832116928810137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.332797288952861e-06, + "observation_loss": 4.027323939226335e-06, + "chamfer": 3.383376679266803e-06, + "track": 6.43947259959532e-07, + "acceleration": 3.054732076179789e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.544073362922063e-06, + "observation_loss": 4.400643319968367e-06, + "chamfer": 3.687940534291556e-06, + "track": 7.127026719899732e-07, + "acceleration": 1.434301282188244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.943998192175059e-06, + "observation_loss": 4.852542588196229e-06, + "chamfer": 4.051108135172399e-06, + "track": 8.014346803975059e-07, + "acceleration": 9.14554618702823e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.257307293504709e-06, + "observation_loss": 5.157093255547807e-06, + "chamfer": 4.301704848330701e-06, + "track": 8.553884072171059e-07, + "acceleration": 1.0021404506233011e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.462790340970969e-06, + "observation_loss": 5.3564945119433105e-06, + "chamfer": 4.471754436963238e-06, + "track": 8.847398476063972e-07, + "acceleration": 1.0629565849740175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.4114157137519214e-06, + "observation_loss": 5.350751962396316e-06, + "chamfer": 4.471100965020014e-06, + "track": 8.796507700026268e-07, + "acceleration": 6.066394320214386e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.364719982026145e-06, + "observation_loss": 5.241687631496461e-06, + "chamfer": 4.381918188300915e-06, + "track": 8.597693295087083e-07, + "acceleration": 1.2303217999942717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.087650606583338e-06, + "observation_loss": 4.885532689513639e-06, + "chamfer": 4.089573394594481e-06, + "track": 7.959592949191574e-07, + "acceleration": 2.0211804496739205e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.8218448682746384e-06, + "observation_loss": 4.497660938795889e-06, + "chamfer": 3.7690763292630436e-06, + "track": 7.285847800631018e-07, + "acceleration": 3.241837305267836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.4974417505727615e-06, + "observation_loss": 4.324963811086491e-06, + "chamfer": 3.6225119401933625e-06, + "track": 7.024520414233848e-07, + "acceleration": 1.7247802475139906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.4806474761571735e-06, + "observation_loss": 4.327331225795206e-06, + "chamfer": 3.6203405215928797e-06, + "track": 7.06990704202326e-07, + "acceleration": 1.5331642089222441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.58583417639602e-06, + "observation_loss": 4.2865658542723395e-06, + "chamfer": 3.585241302062059e-06, + "track": 7.013243248366052e-07, + "acceleration": 2.9926840738880855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.4864350456919055e-06, + "observation_loss": 4.136160896450747e-06, + "chamfer": 3.462311042312649e-06, + "track": 6.738500246683543e-07, + "acceleration": 3.502741208194493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.698270458902698e-06, + "observation_loss": 4.032607648696285e-06, + "chamfer": 3.3817650546552613e-06, + "track": 6.508424235107668e-07, + "acceleration": 6.656629807366699e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.938856363878585e-06, + "observation_loss": 4.047365109727252e-06, + "chamfer": 3.3894434636749793e-06, + "track": 6.579215323654353e-07, + "acceleration": 8.91491310994752e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.767127393279225e-06, + "observation_loss": 4.11445807912969e-06, + "chamfer": 3.4276622500328813e-06, + "track": 6.86795829096809e-07, + "acceleration": 6.526694846797909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.648971753340447e-06, + "observation_loss": 4.341491148807108e-06, + "chamfer": 3.596939677663613e-06, + "track": 7.445513006132387e-07, + "acceleration": 3.0748046242479177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.935239758196985e-06, + "observation_loss": 4.726996849058196e-06, + "chamfer": 3.890662355843233e-06, + "track": 8.363346637452196e-07, + "acceleration": 2.0824307966904598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.128462362335995e-06, + "observation_loss": 4.917330443277024e-06, + "chamfer": 4.035687652503839e-06, + "track": 8.816429044600227e-07, + "acceleration": 2.1113197590238997e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.32799776920001e-06, + "observation_loss": 4.87044144392712e-06, + "chamfer": 3.999796717835125e-06, + "track": 8.706447260919958e-07, + "acceleration": 4.575561263209238e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2888208301737905e-06, + "observation_loss": 4.8482916099601425e-06, + "chamfer": 3.992238362116041e-06, + "track": 8.560533046875207e-07, + "acceleration": 4.405293623221951e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.353140750230523e-06, + "observation_loss": 5.064980541646946e-06, + "chamfer": 4.1737839637789875e-06, + "track": 8.91196464181121e-07, + "acceleration": 2.8816003805332e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.641210918838624e-06, + "observation_loss": 5.3456360546988435e-06, + "chamfer": 4.395483301777858e-06, + "track": 9.501527529209852e-07, + "acceleration": 2.955746651878144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.809129561384907e-06, + "observation_loss": 5.690754733223002e-06, + "chamfer": 4.6732393457205035e-06, + "track": 1.0175155011893366e-06, + "acceleration": 1.183749276378876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.235894943529274e-06, + "observation_loss": 5.9525100368773565e-06, + "chamfer": 4.873328180110548e-06, + "track": 1.0791816293931333e-06, + "acceleration": 2.8338510560388386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.609180672967341e-06, + "observation_loss": 6.005140676279552e-06, + "chamfer": 4.918147624266567e-06, + "track": 1.0869931656998233e-06, + "acceleration": 6.040398830009508e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 7.628541425219737e-06, + "observation_loss": 6.01902092967066e-06, + "chamfer": 4.9163218136527576e-06, + "track": 1.10269922970474e-06, + "acceleration": 1.6095202681754017e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.74385807744693e-06, + "observation_loss": 6.180412128742319e-06, + "chamfer": 5.0179328354715835e-06, + "track": 1.1624790658970596e-06, + "acceleration": 1.5634460623914492e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.864313713274896e-06, + "observation_loss": 6.342687356664101e-06, + "chamfer": 5.1389579311944544e-06, + "track": 1.2037293117828085e-06, + "acceleration": 2.5216263566107955e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 9.841364772000816e-06, + "observation_loss": 6.097701771068387e-06, + "chamfer": 4.9623076847638e-06, + "track": 1.1353939726177487e-06, + "acceleration": 3.7436627735587535e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.488764367735712e-06, + "observation_loss": 5.635081379296025e-06, + "chamfer": 4.602953595167492e-06, + "track": 1.0321277841285337e-06, + "acceleration": 1.8536831021265243e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.211062100192066e-06, + "observation_loss": 5.473889814311406e-06, + "chamfer": 4.4757730393030215e-06, + "track": 9.981166613215464e-07, + "acceleration": 7.371722858806606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.965321972529637e-06, + "observation_loss": 5.703827355318936e-06, + "chamfer": 4.6395825847866945e-06, + "track": 1.064244770532241e-06, + "acceleration": 1.2614947308975388e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.717528322042199e-06, + "observation_loss": 5.886065082449932e-06, + "chamfer": 4.76215427624993e-06, + "track": 1.1239108062000014e-06, + "acceleration": 8.314632395922672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.741368451912422e-06, + "observation_loss": 6.082148502173368e-06, + "chamfer": 4.905808964394964e-06, + "track": 1.1763393104047282e-06, + "acceleration": 6.59219892895635e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.950573606445687e-06, + "observation_loss": 6.1751093198836315e-06, + "chamfer": 4.9736099754227325e-06, + "track": 1.201499344460899e-06, + "acceleration": 7.754644570923119e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.605103408219293e-06, + "observation_loss": 6.2419862842943985e-06, + "chamfer": 5.022812274546595e-06, + "track": 1.219174123434641e-06, + "acceleration": 3.631169533946377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.750667580490699e-06, + "observation_loss": 6.392509021679871e-06, + "chamfer": 5.141798737895442e-06, + "track": 1.250710511158104e-06, + "acceleration": 3.5815844512399053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.186685252236202e-06, + "observation_loss": 6.864359420433175e-06, + "chamfer": 5.497670372278662e-06, + "track": 1.3666891618413501e-06, + "acceleration": 3.2232603075499355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.703661140112672e-06, + "observation_loss": 7.466445822501555e-06, + "chamfer": 5.922832770011155e-06, + "track": 1.5436128251167247e-06, + "acceleration": 2.3721487707462074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.085236913757399e-06, + "observation_loss": 7.818356607458554e-06, + "chamfer": 6.178452167659998e-06, + "track": 1.6399047808590694e-06, + "acceleration": 2.668803631422634e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.03267175797373e-06, + "observation_loss": 7.676129825995304e-06, + "chamfer": 6.084640062908875e-06, + "track": 1.591489308339078e-06, + "acceleration": 3.5654170460475143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.741856279608328e-06, + "observation_loss": 7.457695119228447e-06, + "chamfer": 5.934590717515675e-06, + "track": 1.5231045153996092e-06, + "acceleration": 2.8416079089765844e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.388801805063849e-06, + "observation_loss": 7.262603503477294e-06, + "chamfer": 5.786972451460315e-06, + "track": 1.4756312793906545e-06, + "acceleration": 1.2619833000826475e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.13066538082785e-06, + "observation_loss": 7.082608135533519e-06, + "chamfer": 5.651473202306079e-06, + "track": 1.4311349332274403e-06, + "acceleration": 4.805715292377499e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.133680810511578e-06, + "observation_loss": 7.068574632285163e-06, + "chamfer": 5.636891273752553e-06, + "track": 1.431683131158934e-06, + "acceleration": 6.510632033496222e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.199439551186515e-06, + "observation_loss": 7.109303624019958e-06, + "chamfer": 5.657468136632815e-06, + "track": 1.4518352600134676e-06, + "acceleration": 9.013606216967673e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.231913514260668e-06, + "observation_loss": 7.1808490247349255e-06, + "chamfer": 5.7067518355324864e-06, + "track": 1.4740973028892768e-06, + "acceleration": 5.106456768544376e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.467411705874838e-06, + "observation_loss": 7.261202881636564e-06, + "chamfer": 5.7525203374098055e-06, + "track": 1.5086823168530827e-06, + "acceleration": 2.0620872476229124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.879464646975975e-06, + "observation_loss": 7.343667675741017e-06, + "chamfer": 5.816361863253405e-06, + "track": 1.527305585113936e-06, + "acceleration": 5.357965733310266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.599146894994192e-06, + "observation_loss": 7.4904082794091664e-06, + "chamfer": 5.91348862144514e-06, + "track": 1.5769195442771888e-06, + "acceleration": 1.10873838821135e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.252305062545929e-06, + "observation_loss": 7.651292435184587e-06, + "chamfer": 6.039113941369578e-06, + "track": 1.612178721188684e-06, + "acceleration": 1.60101274104818e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.786450052866712e-06, + "observation_loss": 7.829016794858035e-06, + "chamfer": 6.175987891765544e-06, + "track": 1.653028675718815e-06, + "acceleration": 9.574333716955152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.616199011157732e-06, + "observation_loss": 8.208579856727738e-06, + "chamfer": 6.45093314233236e-06, + "track": 1.7576463733348646e-06, + "acceleration": 4.0761881336948136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.03192994883284e-06, + "observation_loss": 8.726460691832472e-06, + "chamfer": 6.804395070503233e-06, + "track": 1.9220656213292386e-06, + "acceleration": 3.0546968332600954e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.452948688704055e-06, + "observation_loss": 9.328110536444001e-06, + "chamfer": 7.213957815110916e-06, + "track": 2.11415294870676e-06, + "acceleration": 1.2483845068800292e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.762147783476394e-06, + "observation_loss": 9.663637683843262e-06, + "chamfer": 7.442293735948624e-06, + "track": 2.221343720520963e-06, + "acceleration": 9.851025595253304e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0181888683291618e-05, + "observation_loss": 9.890864930639509e-06, + "chamfer": 7.599749551445711e-06, + "track": 2.291115606567473e-06, + "acceleration": 2.9102344001330493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0306276635674294e-05, + "observation_loss": 1.0122534149559215e-05, + "chamfer": 7.737108717265073e-06, + "track": 2.3854258870414924e-06, + "acceleration": 1.8374247190422466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.036738194670761e-05, + "observation_loss": 1.024163248075638e-05, + "chamfer": 7.808111149643082e-06, + "track": 2.4335208763659466e-06, + "acceleration": 1.2574975016832468e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0480232958798297e-05, + "observation_loss": 1.013023666018853e-05, + "chamfer": 7.732494850642979e-06, + "track": 2.397741582171875e-06, + "acceleration": 3.499962133446388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0717019904404879e-05, + "observation_loss": 9.838900950853713e-06, + "chamfer": 7.5521384133026e-06, + "track": 2.2867625375511125e-06, + "acceleration": 8.781184988038149e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0226513040834107e-05, + "observation_loss": 9.699133443064056e-06, + "chamfer": 7.453385933331447e-06, + "track": 2.2457470549852587e-06, + "acceleration": 5.27379256709537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.766969924385194e-06, + "observation_loss": 9.558030797052197e-06, + "chamfer": 7.352105058089364e-06, + "track": 2.2059255115891574e-06, + "acceleration": 2.0893901364615886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.55025006987853e-06, + "observation_loss": 9.317165677202865e-06, + "chamfer": 7.175693554017926e-06, + "track": 2.1414718958112644e-06, + "acceleration": 2.3308444951908314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.788476745598018e-06, + "observation_loss": 9.110381142818369e-06, + "chamfer": 7.034732789179543e-06, + "track": 2.075647898891475e-06, + "acceleration": 6.780951480322983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3155464330338873e-05, + "observation_loss": 9.179728294839151e-06, + "chamfer": 7.0532355493924115e-06, + "track": 2.1264932001940906e-06, + "acceleration": 3.975735580752371e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1706189980031922e-05, + "observation_loss": 9.374854926136322e-06, + "chamfer": 7.17790180715383e-06, + "track": 2.196952664235141e-06, + "acceleration": 2.3313348265219247e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1070304935856257e-05, + "observation_loss": 9.393796972290147e-06, + "chamfer": 7.20250454833149e-06, + "track": 2.1912924239586573e-06, + "acceleration": 1.6765078498792718e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0924634807452094e-05, + "observation_loss": 9.4079314294504e-06, + "chamfer": 7.18895671525388e-06, + "track": 2.2189744868228445e-06, + "acceleration": 1.5167037190622068e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0431133887323085e-05, + "observation_loss": 9.449173376196995e-06, + "chamfer": 7.211720003397204e-06, + "track": 2.2374538275471423e-06, + "acceleration": 9.819607384997653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0335613296774682e-05, + "observation_loss": 9.58931923378259e-06, + "chamfer": 7.294486749742646e-06, + "track": 2.2948329387872946e-06, + "acceleration": 7.462941766789299e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0221157936030068e-05, + "observation_loss": 9.737424079503398e-06, + "chamfer": 7.365227702393895e-06, + "track": 2.372196149735828e-06, + "acceleration": 4.8373431127402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0075202226289548e-05, + "observation_loss": 9.935365596902557e-06, + "chamfer": 7.494108103855979e-06, + "track": 2.441257947793929e-06, + "acceleration": 1.3983623148305924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0303477210982237e-05, + "observation_loss": 1.0225624464510474e-05, + "chamfer": 7.695514796068892e-06, + "track": 2.5301096684415825e-06, + "acceleration": 7.785314437569468e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0542580639594235e-05, + "observation_loss": 1.0432904673507437e-05, + "chamfer": 7.836179065634497e-06, + "track": 2.5967251531255897e-06, + "acceleration": 1.0967619346047286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0630619726725854e-05, + "observation_loss": 1.0515071153349709e-05, + "chamfer": 7.879079930717126e-06, + "track": 2.6359914500062587e-06, + "acceleration": 1.155490281234961e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0736323019955307e-05, + "observation_loss": 1.0581185051705688e-05, + "chamfer": 7.921723408799153e-06, + "track": 2.6594611881591845e-06, + "acceleration": 1.551382524667133e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0815835594257805e-05, + "observation_loss": 1.065881133399671e-05, + "chamfer": 7.960959919728339e-06, + "track": 2.6978511868946953e-06, + "acceleration": 1.5702451605648093e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0776539056678303e-05, + "observation_loss": 1.067348784999922e-05, + "chamfer": 7.962061317812186e-06, + "track": 2.7114260774396826e-06, + "acceleration": 1.0305120667908341e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.093639548344072e-05, + "observation_loss": 1.0662340173439588e-05, + "chamfer": 7.952735359140206e-06, + "track": 2.7096048142993823e-06, + "acceleration": 2.740552531577123e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0874865438381676e-05, + "observation_loss": 1.0729374480433762e-05, + "chamfer": 7.990953236003406e-06, + "track": 2.7384210170566803e-06, + "acceleration": 1.4549070215252868e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0912955076491926e-05, + "observation_loss": 1.0805522833834402e-05, + "chamfer": 8.0262952906196e-06, + "track": 2.7792275432148017e-06, + "acceleration": 1.074321929195321e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0953853234241251e-05, + "observation_loss": 1.0865349395317025e-05, + "chamfer": 8.06398475106107e-06, + "track": 2.8013648716296302e-06, + "acceleration": 8.850387445136221e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1022558283002581e-05, + "observation_loss": 1.0944231689791195e-05, + "chamfer": 8.108677320706192e-06, + "track": 2.8355541417113272e-06, + "acceleration": 7.832642978655713e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.1008454748662189e-05, + "observation_loss": 1.0901052519329824e-05, + "chamfer": 8.08510958449915e-06, + "track": 2.8159427074569976e-06, + "acceleration": 1.0740219380522831e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0847650628420524e-05, + "observation_loss": 1.0753527021734044e-05, + "chamfer": 7.991657184902579e-06, + "track": 2.761870064205141e-06, + "acceleration": 9.412360668648034e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.303000763968763e-06, + "chamfer_mean": 5.573896326419951e-06, + "track_mean": 1.5083896893012632e-06, + "acceleration_mean": 1.2207146876293724e-06, + "observation_score": 7.0822860559853025e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4291250209989812 + }, + "score_arrays_file": "pass_scores/pass_end_0342.npz", + "score_arrays_sha256": "ade52b571cea1b7cedfb49ef46abf8895f6c27a20bff1bff1c443babe937dcb6" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0343.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0343.json new file mode 100644 index 0000000000000000000000000000000000000000..2b257f5b5f27db23ca3e466de8cd273c10c62a19 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0343.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 32928, + "completed_passes": 343, + "snapshot": "pass_end_0343", + "candidate": true, + "snapshot_arrays_sha256": "9d4af57c1ad610f769c7528db7a7c4fa02e08b729d043186e41014c430294001", + "score": 7.0747092379974674e-06, + "score_result": { + "score": 7.0747092379974674e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8748056593030924e-06, + 3.15266038342088e-06, + 3.2292589366988977e-06, + 3.664561518235132e-06, + 4.188537332083797e-06, + 4.419185188453412e-06, + 4.173375145910541e-06, + 4.004818492830964e-06, + 3.937639576179208e-06, + 4.025328962597996e-06, + 4.398177679831861e-06, + 4.849575816479046e-06, + 5.153540314495331e-06, + 5.352395874069771e-06, + 5.34639366378542e-06, + 5.237237473920686e-06, + 4.881226232100744e-06, + 4.49339358965517e-06, + 4.321325832279399e-06, + 4.324218934925739e-06, + 4.283156613382744e-06, + 4.130849902139744e-06, + 4.025836005894234e-06, + 4.042153705086093e-06, + 4.11233941122191e-06, + 4.341333806223702e-06, + 4.725091002910631e-06, + 4.91124455948011e-06, + 4.863306912739063e-06, + 4.843001079279929e-06, + 5.063896423962433e-06, + 5.347632850316586e-06, + 5.695784238923807e-06, + 5.960318958386779e-06, + 6.0147726799186785e-06, + 6.015670351189328e-06, + 6.161068995425012e-06, + 6.322337867459282e-06, + 6.090351689636009e-06, + 5.642653832182987e-06, + 5.479671472130576e-06, + 5.700295787391951e-06, + 5.880407570657553e-06, + 6.080830644350499e-06, + 6.1729388107778504e-06, + 6.238546120584942e-06, + 6.3881443566060625e-06, + 6.8575077420973685e-06, + 7.4585459515219554e-06, + 7.808898772054818e-06, + 7.668362741242163e-06, + 7.45013539926731e-06, + 7.255328910105163e-06, + 7.074921995808836e-06, + 7.060306415951345e-06, + 7.1006707003107294e-06, + 7.171461675170576e-06, + 7.252032446558587e-06, + 7.334716428886168e-06, + 7.48233560443623e-06, + 7.642968739673961e-06, + 7.820959581295028e-06, + 8.200980118999723e-06, + 8.718063327251002e-06, + 9.3196968009579e-06, + 9.654863788455259e-06, + 9.881075129669625e-06, + 1.0113534699485172e-05, + 1.0232608474325389e-05, + 1.0119651960849296e-05, + 9.827429494180251e-06, + 9.684538781584706e-06, + 9.540633982396685e-06, + 9.29808447835967e-06, + 9.086412319447845e-06, + 9.159784895018674e-06, + 9.355449947179295e-06, + 9.379366929351818e-06, + 9.390681043441873e-06, + 9.430479622096755e-06, + 9.571777809469495e-06, + 9.721708920551464e-06, + 9.920047887135297e-06, + 1.0211051630903967e-05, + 1.0418128113087732e-05, + 1.0500503776711412e-05, + 1.0566126547928434e-05, + 1.06436218629824e-05, + 1.0659243343980052e-05, + 1.064836214936804e-05, + 1.0714689778978936e-05, + 1.0790612577693537e-05, + 1.0851741535589099e-05, + 1.0931222277577035e-05, + 1.0888214092119597e-05, + 1.0741253390733618e-05 + ] + ], + "episode_mean_losses": [ + 7.0747092379974674e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8748056593030924e-06, + "observation_loss": 2.8748056593030924e-06, + "chamfer": 2.4382479750784114e-06, + "track": 4.3655774106809986e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1603816498536617e-05, + "observation_loss": 3.15266038342088e-06, + "chamfer": 2.6662075924832607e-06, + "track": 4.864527909376193e-07, + "acceleration": 3.845115497824736e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3018475985736586e-05, + "observation_loss": 3.2292589366988977e-06, + "chamfer": 2.7348226012691157e-06, + "track": 4.944362785863632e-07, + "acceleration": 1.9789216821664013e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0049323464045301e-05, + "observation_loss": 3.664561518235132e-06, + "chamfer": 3.090875907219015e-06, + "track": 5.736854973292793e-07, + "acceleration": 6.384761945810169e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.693103503290331e-06, + "observation_loss": 4.188537332083797e-06, + "chamfer": 3.5132568427798105e-06, + "track": 6.7528031877373e-07, + "acceleration": 1.5045660575196962e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.504225555341691e-06, + "observation_loss": 4.419185188453412e-06, + "chamfer": 3.696992735058302e-06, + "track": 7.221926239253662e-07, + "acceleration": 1.085040366888279e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.7947087296051905e-06, + "observation_loss": 4.173375145910541e-06, + "chamfer": 3.4961060464411275e-06, + "track": 6.77269099469413e-07, + "acceleration": 6.21333526851231e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.607922619470628e-06, + "observation_loss": 4.004818492830964e-06, + "chamfer": 3.3605751923460048e-06, + "track": 6.442433573283779e-07, + "acceleration": 6.03104183483083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.421443009050563e-06, + "observation_loss": 3.937639576179208e-06, + "chamfer": 3.3092637750087306e-06, + "track": 6.283756306402211e-07, + "acceleration": 4.838032054976793e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.330824140197365e-06, + "observation_loss": 4.025328962597996e-06, + "chamfer": 3.3816918403317686e-06, + "track": 6.436373496399028e-07, + "acceleration": 3.0549529128620634e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.541986072581494e-06, + "observation_loss": 4.398177679831861e-06, + "chamfer": 3.6859021292912075e-06, + "track": 7.122757210709096e-07, + "acceleration": 1.4380819379766763e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.940957751387032e-06, + "observation_loss": 4.849575816479046e-06, + "chamfer": 4.048676601087209e-06, + "track": 8.008991017049993e-07, + "acceleration": 9.138193490798585e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.25432187714614e-06, + "observation_loss": 5.153540314495331e-06, + "chamfer": 4.298808107705554e-06, + "track": 8.54732093102939e-07, + "acceleration": 1.0078152001824492e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.4589104365732055e-06, + "observation_loss": 5.352395874069771e-06, + "chamfer": 4.468416591407731e-06, + "track": 8.839792258186208e-07, + "acceleration": 1.065147330336913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.407162916526431e-06, + "observation_loss": 5.34639366378542e-06, + "chamfer": 4.467557573661907e-06, + "track": 8.788363174971892e-07, + "acceleration": 6.076903957819013e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.3601274885295425e-06, + "observation_loss": 5.237237473920686e-06, + "chamfer": 4.378291123430245e-06, + "track": 8.58946179960185e-07, + "acceleration": 1.228898440785997e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.083185442344984e-06, + "observation_loss": 4.881226232100744e-06, + "chamfer": 4.086050921614515e-06, + "track": 7.951754241730669e-07, + "acceleration": 2.0195911076825723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.818663910555188e-06, + "observation_loss": 4.49339358965517e-06, + "chamfer": 3.7655443065887084e-06, + "track": 7.278493967532995e-07, + "acceleration": 3.252705198519834e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.494732820603531e-06, + "observation_loss": 4.321325832279399e-06, + "chamfer": 3.6194687709212303e-06, + "track": 7.018568339844933e-07, + "acceleration": 1.7340684621558466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.475401055969996e-06, + "observation_loss": 4.324218934925739e-06, + "chamfer": 3.6177405036141863e-06, + "track": 7.064784313115524e-07, + "acceleration": 1.5118222052024066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5833517106075305e-06, + "observation_loss": 4.283156613382744e-06, + "chamfer": 3.58238958142465e-06, + "track": 7.007672024883504e-07, + "acceleration": 3.0019506880307745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.485408226173604e-06, + "observation_loss": 4.130849902139744e-06, + "chamfer": 3.4579179555294104e-06, + "track": 6.729318897669145e-07, + "acceleration": 3.5455826719044126e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.699062628787942e-06, + "observation_loss": 4.025836005894234e-06, + "chamfer": 3.376089125595172e-06, + "track": 6.497469371424813e-07, + "acceleration": 6.732266797371267e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.942684427078348e-06, + "observation_loss": 4.042153705086093e-06, + "chamfer": 3.385032186997705e-06, + "track": 6.571212907147128e-07, + "acceleration": 9.00530835679092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.7603948587493505e-06, + "observation_loss": 4.11233941122191e-06, + "chamfer": 3.425803015488782e-06, + "track": 6.865361683594529e-07, + "acceleration": 6.480552769971837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.64694676338695e-06, + "observation_loss": 4.341333806223702e-06, + "chamfer": 3.5966700124845374e-06, + "track": 7.446638505825831e-07, + "acceleration": 3.056127582112822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.938394340570085e-06, + "observation_loss": 4.725091002910631e-06, + "chamfer": 3.88911666959757e-06, + "track": 8.359745038433175e-07, + "acceleration": 2.133032808160351e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.131761099619325e-06, + "observation_loss": 4.91124455948011e-06, + "chamfer": 4.031027856399305e-06, + "track": 8.802168167676427e-07, + "acceleration": 2.2051662540434336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3335761549533345e-06, + "observation_loss": 4.863306912739063e-06, + "chamfer": 3.994016879005358e-06, + "track": 8.692898632034485e-07, + "acceleration": 4.702690716840152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.293380127113778e-06, + "observation_loss": 4.843001079279929e-06, + "chamfer": 3.9878809729998466e-06, + "track": 8.551201062800828e-07, + "acceleration": 4.503788204601733e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.362054253055248e-06, + "observation_loss": 5.063896423962433e-06, + "chamfer": 4.172748504061019e-06, + "track": 8.91147863057995e-07, + "acceleration": 2.981576301408495e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.641290044877678e-06, + "observation_loss": 5.347632850316586e-06, + "chamfer": 4.396680651552742e-06, + "track": 9.509520850770059e-07, + "acceleration": 2.9365696718741674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.793942364107352e-06, + "observation_loss": 5.695784238923807e-06, + "chamfer": 4.676902790379245e-06, + "track": 1.0188812211708864e-06, + "acceleration": 9.815800439127997e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.1660816754738335e-06, + "observation_loss": 5.960318958386779e-06, + "chamfer": 4.879187144979369e-06, + "track": 1.0811315860337345e-06, + "acceleration": 2.0576280235218292e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.355895948217949e-06, + "observation_loss": 6.0147726799186785e-06, + "chamfer": 4.92564913656679e-06, + "track": 1.089123429665051e-06, + "acceleration": 3.4112341040781757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.976081749598961e-06, + "observation_loss": 6.015670351189328e-06, + "chamfer": 4.914665623800829e-06, + "track": 1.1010046137016616e-06, + "acceleration": 9.604116257833084e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.344147434196202e-06, + "observation_loss": 6.161068995425012e-06, + "chamfer": 5.004868853575317e-06, + "track": 1.1562001418496948e-06, + "acceleration": 1.1830783250843524e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.551405699108727e-06, + "observation_loss": 6.322337867459282e-06, + "chamfer": 5.124789367982885e-06, + "track": 1.1975483857895597e-06, + "acceleration": 2.229067831649445e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 9.748784577823244e-06, + "observation_loss": 6.090351689636009e-06, + "chamfer": 4.957431883667596e-06, + "track": 1.1329196922815754e-06, + "acceleration": 3.6584331155609107e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.822734914952889e-06, + "observation_loss": 5.642653832182987e-06, + "chamfer": 4.608991730492562e-06, + "track": 1.0336619880035869e-06, + "acceleration": 2.180081310143578e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.298147127381526e-06, + "observation_loss": 5.479671472130576e-06, + "chamfer": 4.4803869059251156e-06, + "track": 9.992846798922983e-07, + "acceleration": 8.184758826246252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.987176220718538e-06, + "observation_loss": 5.700295787391951e-06, + "chamfer": 4.6370205382118e-06, + "track": 1.0632752491801511e-06, + "acceleration": 1.2868805470134248e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.993117949605221e-06, + "observation_loss": 5.880407570657553e-06, + "chamfer": 4.7579478632542305e-06, + "track": 1.1224597074033227e-06, + "acceleration": 1.11271026526083e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.671638402622193e-06, + "observation_loss": 6.080830644350499e-06, + "chamfer": 4.904757588519715e-06, + "track": 1.1760729421439464e-06, + "acceleration": 5.908079288019508e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.0727373895351775e-06, + "observation_loss": 6.1729388107778504e-06, + "chamfer": 4.971926955477102e-06, + "track": 1.2010116279270733e-06, + "acceleration": 8.997987492875836e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.682399998680921e-06, + "observation_loss": 6.238546120584942e-06, + "chamfer": 5.020108346798224e-06, + "track": 1.2184375464130426e-06, + "acceleration": 4.4385393493939773e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.7748419496638235e-06, + "observation_loss": 6.3881443566060625e-06, + "chamfer": 5.138199412613176e-06, + "track": 1.2499447166192112e-06, + "acceleration": 3.86697792009727e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.216593985504005e-06, + "observation_loss": 6.8575077420973685e-06, + "chamfer": 5.492020591191249e-06, + "track": 1.3654872645929572e-06, + "acceleration": 3.590862149849272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.704108611505944e-06, + "observation_loss": 7.4585459515219554e-06, + "chamfer": 5.917001544730738e-06, + "track": 1.5415441794175422e-06, + "acceleration": 2.4556254629715113e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.065847396210302e-06, + "observation_loss": 7.808898772054818e-06, + "chamfer": 6.171711447677808e-06, + "track": 1.637187210690172e-06, + "acceleration": 2.5694845362522756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.013893420866225e-06, + "observation_loss": 7.668362741242163e-06, + "chamfer": 6.078875685489038e-06, + "track": 1.5894870557531249e-06, + "acceleration": 3.455302532984206e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.746985829726327e-06, + "observation_loss": 7.45013539926731e-06, + "chamfer": 5.928779955866048e-06, + "track": 1.5213554434012622e-06, + "acceleration": 2.968506578326924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.369298600679031e-06, + "observation_loss": 7.255328910105163e-06, + "chamfer": 5.78134222450899e-06, + "track": 1.4739866855961736e-06, + "acceleration": 1.1396988242040607e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1287595346802846e-06, + "observation_loss": 7.074921995808836e-06, + "chamfer": 5.645391411235323e-06, + "track": 1.4295304708866752e-06, + "acceleration": 5.3837599267581027e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.126090167730581e-06, + "observation_loss": 7.060306415951345e-06, + "chamfer": 5.6302701523236465e-06, + "track": 1.4300363773145364e-06, + "acceleration": 6.578368783038968e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.193030796770472e-06, + "observation_loss": 7.1006707003107294e-06, + "chamfer": 5.650425464409636e-06, + "track": 1.4502454632747686e-06, + "acceleration": 9.235999698375963e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.223403372336179e-06, + "observation_loss": 7.171461675170576e-06, + "chamfer": 5.6991416386154015e-06, + "track": 1.4723200365551747e-06, + "acceleration": 5.194157992605142e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.460188953700708e-06, + "observation_loss": 7.252032446558587e-06, + "chamfer": 5.745138878410216e-06, + "track": 1.5068934544615331e-06, + "acceleration": 2.0815642187699268e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.870750778238289e-06, + "observation_loss": 7.334716428886168e-06, + "chamfer": 5.809133199363714e-06, + "track": 1.5255832295224536e-06, + "acceleration": 5.360343493521214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.595028702984564e-06, + "observation_loss": 7.48233560443623e-06, + "chamfer": 5.907011200179113e-06, + "track": 1.5753241768834414e-06, + "acceleration": 1.1126928711746586e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.250910807168111e-06, + "observation_loss": 7.642968739673961e-06, + "chamfer": 6.032430974300951e-06, + "track": 1.6105379927466856e-06, + "acceleration": 1.6079424085546634e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.782566510490142e-06, + "observation_loss": 7.820959581295028e-06, + "chamfer": 6.1696382545051165e-06, + "track": 1.6513213267899118e-06, + "acceleration": 9.61606701821438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.610169061284978e-06, + "observation_loss": 8.200980118999723e-06, + "chamfer": 6.444990049203625e-06, + "track": 1.7559900697960984e-06, + "acceleration": 4.091892265023489e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.023791790241376e-06, + "observation_loss": 8.718063327251002e-06, + "chamfer": 6.797722107876325e-06, + "track": 1.9203407646273263e-06, + "acceleration": 3.0572863352062996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.443829185329378e-06, + "observation_loss": 9.3196968009579e-06, + "chamfer": 7.207342605397571e-06, + "track": 2.1123539681866532e-06, + "acceleration": 1.2413254069087998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.7535839813645e-06, + "observation_loss": 9.654863788455259e-06, + "chamfer": 7.435518455167767e-06, + "track": 2.219345105913817e-06, + "acceleration": 9.872049133718974e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0173536793445237e-05, + "observation_loss": 9.881075129669625e-06, + "chamfer": 7.592213478346821e-06, + "track": 2.2888616513228044e-06, + "acceleration": 2.9246211852296256e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0298054803570267e-05, + "observation_loss": 1.0113534699485172e-05, + "chamfer": 7.730303877906408e-06, + "track": 2.3832308215787634e-06, + "acceleration": 1.8452043093475368e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0358620784245431e-05, + "observation_loss": 1.0232608474325389e-05, + "chamfer": 7.801401807228103e-06, + "track": 2.43120643972361e-06, + "acceleration": 1.2601194043782016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0470585948496591e-05, + "observation_loss": 1.0119651960849296e-05, + "chamfer": 7.724412171228323e-06, + "track": 2.395239789620973e-06, + "acceleration": 3.5093356132165354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0710276001191232e-05, + "observation_loss": 9.827429494180251e-06, + "chamfer": 7.543943411292275e-06, + "track": 2.2834860828879755e-06, + "acceleration": 8.828467343846569e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.021774278342491e-05, + "observation_loss": 9.684538781584706e-06, + "chamfer": 7.442985861416673e-06, + "track": 2.241552920168033e-06, + "acceleration": 5.332036607796908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.751361176313367e-06, + "observation_loss": 9.540633982396685e-06, + "chamfer": 7.339851435972378e-06, + "track": 2.200782546424307e-06, + "acceleration": 2.1072688127787842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.532291187497322e-06, + "observation_loss": 9.29808447835967e-06, + "chamfer": 7.162154815887334e-06, + "track": 2.135929889846011e-06, + "acceleration": 2.3420651018568606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.748634511197452e-06, + "observation_loss": 9.086412319447845e-06, + "chamfer": 7.017456937319366e-06, + "track": 2.0689551547548035e-06, + "acceleration": 6.62222305436444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.3040441444900353e-05, + "observation_loss": 9.159784895018674e-06, + "chamfer": 7.04001513440744e-06, + "track": 2.119770215358585e-06, + "acceleration": 3.880656549881678e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1724383512046188e-05, + "observation_loss": 9.355449947179295e-06, + "chamfer": 7.1644831223238725e-06, + "track": 2.190966597481747e-06, + "acceleration": 2.368933110119542e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1115179404441733e-05, + "observation_loss": 9.379366929351818e-06, + "chamfer": 7.19293211659533e-06, + "track": 2.186434812756488e-06, + "acceleration": 1.7358127024635905e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0944165296677966e-05, + "observation_loss": 9.390681043441873e-06, + "chamfer": 7.17720922693843e-06, + "track": 2.2134715891297674e-06, + "acceleration": 1.5534843669229303e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0453420145495329e-05, + "observation_loss": 9.430479622096755e-06, + "chamfer": 7.198666935437359e-06, + "track": 2.231812914033071e-06, + "acceleration": 1.022940296024899e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0330612894904334e-05, + "observation_loss": 9.571777809469495e-06, + "chamfer": 7.282531441887841e-06, + "track": 2.2892463675816543e-06, + "acceleration": 7.588350285914203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0207701052422635e-05, + "observation_loss": 9.721708920551464e-06, + "chamfer": 7.354678473348031e-06, + "track": 2.3670302198297577e-06, + "acceleration": 4.859917908106581e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0059727173938882e-05, + "observation_loss": 9.920047887135297e-06, + "chamfer": 7.483683475584257e-06, + "track": 2.4363644115510397e-06, + "acceleration": 1.3967920153845625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0287408258591313e-05, + "observation_loss": 1.0211051630903967e-05, + "chamfer": 7.685909622523468e-06, + "track": 2.525141553633148e-06, + "acceleration": 7.63568266393122e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0527991435083095e-05, + "observation_loss": 1.0418128113087732e-05, + "chamfer": 7.826345608918928e-06, + "track": 2.5917822767951293e-06, + "acceleration": 1.0986294540771269e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.06147917904309e-05, + "observation_loss": 1.0500503776711412e-05, + "chamfer": 7.869469300203491e-06, + "track": 2.6310344765079208e-06, + "acceleration": 1.1428777213495778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0721311809902545e-05, + "observation_loss": 1.0566126547928434e-05, + "chamfer": 7.911712600616738e-06, + "track": 2.6544139473116957e-06, + "acceleration": 1.5518560303462436e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0800270501931664e-05, + "observation_loss": 1.06436218629824e-05, + "chamfer": 7.951012776175048e-06, + "track": 2.692608859433676e-06, + "acceleration": 1.5664903685319587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0761620615085121e-05, + "observation_loss": 1.0659243343980052e-05, + "chamfer": 7.952879968797788e-06, + "track": 2.7063633751822636e-06, + "acceleration": 1.023772497887876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0921866305579897e-05, + "observation_loss": 1.064836214936804e-05, + "chamfer": 7.943706805235706e-06, + "track": 2.7046555715060094e-06, + "acceleration": 2.735044120072416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0859959729714319e-05, + "observation_loss": 1.0714689778978936e-05, + "chamfer": 7.98148539615795e-06, + "track": 2.733204382820986e-06, + "acceleration": 1.452699081028186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0898254004132468e-05, + "observation_loss": 1.0790612577693537e-05, + "chamfer": 8.016598258109298e-06, + "track": 2.774014092210564e-06, + "acceleration": 1.0764186697542755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0940655556623824e-05, + "observation_loss": 1.0851741535589099e-05, + "chamfer": 8.055274520302191e-06, + "track": 2.796466787913232e-06, + "acceleration": 8.891372260677599e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.101004545489559e-05, + "observation_loss": 1.0931222277577035e-05, + "chamfer": 8.100353625195567e-06, + "track": 2.8308691071288195e-06, + "acceleration": 7.882349706278546e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0996038326993585e-05, + "observation_loss": 1.0888214092119597e-05, + "chamfer": 8.076820449787192e-06, + "track": 2.8113938697060803e-06, + "acceleration": 1.0782380854834628e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0835668035724666e-05, + "observation_loss": 1.0741253390733618e-05, + "chamfer": 7.983924660948105e-06, + "track": 2.7573285024118377e-06, + "acceleration": 9.441467341275711e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.28836442915796e-06, + "chamfer_mean": 5.56844799840898e-06, + "track_mean": 1.5062611981401612e-06, + "acceleration_mean": 1.2136551685119439e-06, + "observation_score": 7.0747092379974674e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.416122633001578 + }, + "score_arrays_file": "pass_scores/pass_end_0343.npz", + "score_arrays_sha256": "4c1f383a27fad31f724da0ea02dbb56ca54ccf29f5fae7b9d77bcc458e942693" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0344.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0344.json new file mode 100644 index 0000000000000000000000000000000000000000..0a8383341203fa30ebfa3e2b62d6420c7efb1648 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0344.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33024, + "completed_passes": 344, + "snapshot": "pass_end_0344", + "candidate": true, + "snapshot_arrays_sha256": "d5027fdc94caee353b401c1e10c9f8e8a21ade49b8bee2c4bf46efccc22339c5", + "score": 7.069659076819335e-06, + "score_result": { + "score": 7.069659076819335e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.875106019928353e-06, + 3.1525812573818257e-06, + 3.2280543109663995e-06, + 3.6633341551350895e-06, + 4.187008471490117e-06, + 4.417826403368963e-06, + 4.17218461734592e-06, + 4.00315957449493e-06, + 3.93587060898426e-06, + 4.022641860501608e-06, + 4.395317773742136e-06, + 4.845292551181046e-06, + 5.1484380492183845e-06, + 5.346510079107247e-06, + 5.340065399650484e-06, + 5.2309078455436975e-06, + 4.875462309428258e-06, + 4.487891601456795e-06, + 4.317141247156542e-06, + 4.319900654081721e-06, + 4.277123935025884e-06, + 4.122925929550547e-06, + 4.017950232082512e-06, + 4.037188773509115e-06, + 4.1116736611002125e-06, + 4.343777163740015e-06, + 4.726340193883516e-06, + 4.90834599986556e-06, + 4.8590100050205365e-06, + 4.840978817810537e-06, + 5.065237928647548e-06, + 5.3514795581577346e-06, + 5.703180704585975e-06, + 5.968752702756319e-06, + 6.025415586918825e-06, + 6.015976396156475e-06, + 6.149650289444253e-06, + 6.3163529375742655e-06, + 6.080990715418011e-06, + 5.646601039188681e-06, + 5.4864067351445556e-06, + 5.695674644812243e-06, + 5.87583508604439e-06, + 6.0795427998527884e-06, + 6.168613253976218e-06, + 6.233956355572445e-06, + 6.380539161909837e-06, + 6.8474023464659695e-06, + 7.445805294992169e-06, + 7.792657015670557e-06, + 7.655933586647734e-06, + 7.438890861521941e-06, + 7.244475000334205e-06, + 7.0653472903359216e-06, + 7.052791261230595e-06, + 7.09328378434293e-06, + 7.165001534303883e-06, + 7.245393135235645e-06, + 7.328103038162226e-06, + 7.475478014384862e-06, + 7.635280780959874e-06, + 7.812968760845251e-06, + 8.191685083147604e-06, + 8.708013410796411e-06, + 9.309369488619268e-06, + 9.644893907534424e-06, + 9.871502697933465e-06, + 1.0104304237756878e-05, + 1.0223696335742716e-05, + 1.0110775292559993e-05, + 9.818678336159792e-06, + 9.674139619164634e-06, + 9.528394002700225e-06, + 9.285156920668669e-06, + 9.071305612451397e-06, + 9.149664037977345e-06, + 9.34756735659903e-06, + 9.377445167046972e-06, + 9.387819773110095e-06, + 9.426179531146772e-06, + 9.566085282131098e-06, + 9.715513442642987e-06, + 9.912979294313118e-06, + 1.0204930731561035e-05, + 1.0412051778985187e-05, + 1.0495230526430532e-05, + 1.056028668244835e-05, + 1.0637908417265862e-05, + 1.0653992831066716e-05, + 1.0643377208907623e-05, + 1.0710506103350781e-05, + 1.0787199244077783e-05, + 1.0848855708900373e-05, + 1.0928846677416004e-05, + 1.0886170457524713e-05, + 1.0739719073171727e-05 + ] + ], + "episode_mean_losses": [ + 7.069659076819335e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.875106019928353e-06, + "observation_loss": 2.875106019928353e-06, + "chamfer": 2.438486717437627e-06, + "track": 4.366192172255978e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1611503547756e-05, + "observation_loss": 3.1525812573818257e-06, + "chamfer": 2.6661377887648996e-06, + "track": 4.864434686169261e-07, + "acceleration": 3.84589220630005e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3017377316136844e-05, + "observation_loss": 3.2280543109663995e-06, + "chamfer": 2.7338176096236566e-06, + "track": 4.94236644499324e-07, + "acceleration": 1.978932232304942e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0049243428511545e-05, + "observation_loss": 3.6633341551350895e-06, + "chamfer": 3.0898490877007134e-06, + "track": 5.734849537475384e-07, + "acceleration": 6.385908818629105e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.689209046977339e-06, + "observation_loss": 4.187008471490117e-06, + "chamfer": 3.511982868076302e-06, + "track": 6.750255465703958e-07, + "acceleration": 1.5022004618003848e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.501111900230171e-06, + "observation_loss": 4.417826403368963e-06, + "chamfer": 3.6958547298127087e-06, + "track": 7.219716735562542e-07, + "acceleration": 1.0832853831743705e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.791566425410565e-06, + "observation_loss": 4.17218461734592e-06, + "chamfer": 3.4950826375279576e-06, + "track": 6.771021503482189e-07, + "acceleration": 6.193819217514829e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.60675391877885e-06, + "observation_loss": 4.00315957449493e-06, + "chamfer": 3.3591659303056076e-06, + "track": 6.439936441893224e-07, + "acceleration": 6.035945148141764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4189378058945294e-06, + "observation_loss": 3.93587060898426e-06, + "chamfer": 3.3077603802667e-06, + "track": 6.281103424043977e-07, + "acceleration": 4.830671969102696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.3278446355543565e-06, + "observation_loss": 4.022641860501608e-06, + "chamfer": 3.379451300133951e-06, + "track": 6.431905603676569e-07, + "acceleration": 3.052028318961675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.539234851108631e-06, + "observation_loss": 4.395317773742136e-06, + "chamfer": 3.6835722312389407e-06, + "track": 7.11745485659776e-07, + "acceleration": 1.4391693525794835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.936726327287033e-06, + "observation_loss": 4.845292551181046e-06, + "chamfer": 4.0452173379890155e-06, + "track": 8.000750426617742e-07, + "acceleration": 9.143370505171333e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.249682544672396e-06, + "observation_loss": 5.1484380492183845e-06, + "chamfer": 4.294711743568769e-06, + "track": 8.537263056496158e-07, + "acceleration": 1.0124450255943884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.4531706155103166e-06, + "observation_loss": 5.346510079107247e-06, + "chamfer": 4.463674940780038e-06, + "track": 8.82835252014047e-07, + "acceleration": 1.0666067851161642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.400762802310055e-06, + "observation_loss": 5.340065399650484e-06, + "chamfer": 4.462430752028013e-06, + "track": 8.776346476224717e-07, + "acceleration": 6.069733160529722e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.353946562536294e-06, + "observation_loss": 5.2309078455436975e-06, + "chamfer": 4.3731447476602625e-06, + "track": 8.577629841965972e-07, + "acceleration": 1.230386459383226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.07783306602505e-06, + "observation_loss": 4.875462309428258e-06, + "chamfer": 4.081352471985156e-06, + "track": 7.941098374431022e-07, + "acceleration": 2.023708560727755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.814411568077048e-06, + "observation_loss": 4.487891601456795e-06, + "chamfer": 3.7610018353007035e-06, + "track": 7.268899935297668e-07, + "acceleration": 3.265197676682874e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.491451363719534e-06, + "observation_loss": 4.317141247156542e-06, + "chamfer": 3.6159881346975453e-06, + "track": 7.01152885085321e-07, + "acceleration": 1.743100739304282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.4694929783872794e-06, + "observation_loss": 4.319900654081721e-06, + "chamfer": 3.61417460226221e-06, + "track": 7.057260518195108e-07, + "acceleration": 1.4959232430555858e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.577701929520117e-06, + "observation_loss": 4.277123935025884e-06, + "chamfer": 3.5773944091488374e-06, + "track": 6.997293553467898e-07, + "acceleration": 3.0057788080739556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.483067641558591e-06, + "observation_loss": 4.122925929550547e-06, + "chamfer": 3.4514014259912074e-06, + "track": 6.715247309330152e-07, + "acceleration": 3.6014156989949697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.70511986350175e-06, + "observation_loss": 4.017950232082512e-06, + "chamfer": 3.369512569406652e-06, + "track": 6.484378900495358e-07, + "acceleration": 6.871694040455623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.957249075232539e-06, + "observation_loss": 4.037188773509115e-06, + "chamfer": 3.3808482839958742e-06, + "track": 6.563406600434973e-07, + "acceleration": 9.200603585668432e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.762977823702386e-06, + "observation_loss": 4.1116736611002125e-06, + "chamfer": 3.4251836495968746e-06, + "track": 6.864897841296624e-07, + "acceleration": 6.513041057587543e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.651247763831634e-06, + "observation_loss": 4.343777163740015e-06, + "chamfer": 3.5985804061056115e-06, + "track": 7.451966439475655e-07, + "acceleration": 3.0747074220016657e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.943897238263162e-06, + "observation_loss": 4.726340193883516e-06, + "chamfer": 3.890140305884415e-06, + "track": 8.36199717468844e-07, + "acceleration": 2.175570017470818e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.138662345416378e-06, + "observation_loss": 4.90834599986556e-06, + "chamfer": 4.028985131299123e-06, + "track": 8.793608685664367e-07, + "acceleration": 2.3031624607483536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.339705694495933e-06, + "observation_loss": 4.8590100050205365e-06, + "chamfer": 3.9905366975290235e-06, + "track": 8.684734780217696e-07, + "acceleration": 4.806958031622344e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.296885319694411e-06, + "observation_loss": 4.840978817810537e-06, + "chamfer": 3.986164756497601e-06, + "track": 8.548141181563551e-07, + "acceleration": 4.5590664399242087e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.370620783651248e-06, + "observation_loss": 5.065237928647548e-06, + "chamfer": 4.173689376330003e-06, + "track": 8.915483817872882e-07, + "acceleration": 3.053827981602808e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.646619229082717e-06, + "observation_loss": 5.3514795581577346e-06, + "chamfer": 4.3994118641421665e-06, + "track": 9.520678645458247e-07, + "acceleration": 2.951396140815632e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.7943798310589045e-06, + "observation_loss": 5.703180704585975e-06, + "chamfer": 4.682393864641199e-06, + "track": 1.0207869536316139e-06, + "acceleration": 9.119890620468141e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.143188784335507e-06, + "observation_loss": 5.968752702756319e-06, + "chamfer": 4.885503130935831e-06, + "track": 1.0832493444468128e-06, + "acceleration": 1.7443622368773504e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.267760909395292e-06, + "observation_loss": 6.025415586918825e-06, + "chamfer": 4.933846412313869e-06, + "track": 1.091569174604956e-06, + "acceleration": 2.423454077415954e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.661563020315953e-06, + "observation_loss": 6.015976396156475e-06, + "chamfer": 4.915541467198636e-06, + "track": 1.1004347015841631e-06, + "acceleration": 6.455866241594777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.310318324016407e-06, + "observation_loss": 6.149650289444253e-06, + "chamfer": 4.997410997020779e-06, + "track": 1.1522395197971491e-06, + "acceleration": 1.160668148258992e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.056866136030294e-06, + "observation_loss": 6.3163529375742655e-06, + "chamfer": 5.121097274241038e-06, + "track": 1.1952557770200656e-06, + "acceleration": 1.740513425829704e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 9.085156307264697e-06, + "observation_loss": 6.080990715418011e-06, + "chamfer": 4.9509517339174636e-06, + "track": 1.130039095187385e-06, + "acceleration": 3.0041658192203613e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 8.373039236175828e-06, + "observation_loss": 5.646601039188681e-06, + "chamfer": 4.612317752616946e-06, + "track": 1.0342834002585732e-06, + "acceleration": 2.7264386517344974e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.6670108935795724e-06, + "observation_loss": 5.4864067351445556e-06, + "chamfer": 4.485464614845114e-06, + "track": 1.0009418929257663e-06, + "acceleration": 1.1806043858086923e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.780881449230947e-06, + "observation_loss": 5.695674644812243e-06, + "chamfer": 4.633683147403644e-06, + "track": 1.0619916110954364e-06, + "acceleration": 1.0852069181055413e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.473217465303605e-06, + "observation_loss": 5.87583508604439e-06, + "chamfer": 4.75448496217723e-06, + "track": 1.121350010180322e-06, + "acceleration": 1.5973824929460534e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.760196811228525e-06, + "observation_loss": 6.0795427998527884e-06, + "chamfer": 4.903587523585884e-06, + "track": 1.175955048893229e-06, + "acceleration": 6.806542387494119e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.9982784225430805e-06, + "observation_loss": 6.168613253976218e-06, + "chamfer": 4.968580014974577e-06, + "track": 1.200033239001641e-06, + "acceleration": 8.296649980366055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.812210358475568e-06, + "observation_loss": 6.233956355572445e-06, + "chamfer": 5.016435352445114e-06, + "track": 1.217521003127331e-06, + "acceleration": 5.78254173433379e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.7869577833334915e-06, + "observation_loss": 6.380539161909837e-06, + "chamfer": 5.132031219545752e-06, + "track": 1.2485080560509232e-06, + "acceleration": 4.06418735110492e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.233882115542656e-06, + "observation_loss": 6.8474023464659695e-06, + "chamfer": 5.484026587510016e-06, + "track": 1.363375645269116e-06, + "acceleration": 3.864797122332675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.781240128679201e-06, + "observation_loss": 7.445805294992169e-06, + "chamfer": 5.907809281779919e-06, + "track": 1.5379960132122505e-06, + "acceleration": 3.3543511790412595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.060286745603662e-06, + "observation_loss": 7.792657015670557e-06, + "chamfer": 6.160236353025539e-06, + "track": 1.6324204352713423e-06, + "acceleration": 2.67629701511396e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 7.972192179295234e-06, + "observation_loss": 7.655933586647734e-06, + "chamfer": 6.069870778446784e-06, + "track": 1.5860625808272744e-06, + "acceleration": 3.162590473948512e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.764721885905601e-06, + "observation_loss": 7.438890861521941e-06, + "chamfer": 5.920318471908104e-06, + "track": 1.5185722759269993e-06, + "acceleration": 3.258313086007547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.35323646949837e-06, + "observation_loss": 7.244475000334205e-06, + "chamfer": 5.773121756647015e-06, + "track": 1.4713533573740278e-06, + "acceleration": 1.0876131284476287e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1221670623344835e-06, + "observation_loss": 7.0653472903359216e-06, + "chamfer": 5.638115908368491e-06, + "track": 1.4272314956542687e-06, + "acceleration": 5.681997805595529e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.119761903595645e-06, + "observation_loss": 7.052791261230595e-06, + "chamfer": 5.62449076824123e-06, + "track": 1.4283007203630405e-06, + "acceleration": 6.697061394334014e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.188522431533784e-06, + "observation_loss": 7.09328378434293e-06, + "chamfer": 5.644699285767274e-06, + "track": 1.4485842712019803e-06, + "acceleration": 9.523856903115302e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.218403425213182e-06, + "observation_loss": 7.165001534303883e-06, + "chamfer": 5.694128049071878e-06, + "track": 1.4708733715451672e-06, + "acceleration": 5.34019335418634e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.45075612940127e-06, + "observation_loss": 7.245393135235645e-06, + "chamfer": 5.740054803027306e-06, + "track": 1.5053385595820146e-06, + "acceleration": 2.05363164695882e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.864961844461504e-06, + "observation_loss": 7.328103038162226e-06, + "chamfer": 5.803992280561943e-06, + "track": 1.5241107576002833e-06, + "acceleration": 5.368585220821842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.593137863499578e-06, + "observation_loss": 7.475478014384862e-06, + "chamfer": 5.9017747844336554e-06, + "track": 1.573703457324882e-06, + "acceleration": 1.1176595080542029e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.249039976566564e-06, + "observation_loss": 7.635280780959874e-06, + "chamfer": 6.026534265402006e-06, + "track": 1.608746288184193e-06, + "acceleration": 1.613759536667203e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.779250492807478e-06, + "observation_loss": 7.812968760845251e-06, + "chamfer": 6.163662874314468e-06, + "track": 1.6493057728439453e-06, + "acceleration": 9.662821867095772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.602702109783422e-06, + "observation_loss": 8.191685083147604e-06, + "chamfer": 6.4380005824205e-06, + "track": 1.7536842733534286e-06, + "acceleration": 4.1101716874436534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.014849638333544e-06, + "observation_loss": 8.708013410796411e-06, + "chamfer": 6.790320639993297e-06, + "track": 1.9176927708031144e-06, + "acceleration": 3.068365117542271e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.434048479306512e-06, + "observation_loss": 9.309369488619268e-06, + "chamfer": 7.199909759947332e-06, + "track": 2.1094592739245854e-06, + "acceleration": 1.2467944543459453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.743967893882655e-06, + "observation_loss": 9.644893907534424e-06, + "chamfer": 7.428511707985308e-06, + "track": 2.2163824269227916e-06, + "acceleration": 9.907434872502563e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0163921615458094e-05, + "observation_loss": 9.871502697933465e-06, + "chamfer": 7.585553248645738e-06, + "track": 2.2859499040350784e-06, + "acceleration": 2.924191733200132e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0288833436788991e-05, + "observation_loss": 1.0104304237756878e-05, + "chamfer": 7.723911039647646e-06, + "track": 2.380392743361881e-06, + "acceleration": 1.8452963956860913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0349754120397847e-05, + "observation_loss": 1.0223696335742716e-05, + "chamfer": 7.795329111104365e-06, + "track": 2.4283674520120258e-06, + "acceleration": 1.2605747201632767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.046158195094904e-05, + "observation_loss": 1.0110775292559993e-05, + "chamfer": 7.718238521192688e-06, + "track": 2.3925369987409795e-06, + "acceleration": 3.508067436541751e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0703997759264894e-05, + "observation_loss": 9.818678336159792e-06, + "chamfer": 7.5379753070592415e-06, + "track": 2.2807030291005503e-06, + "acceleration": 8.853198778524529e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0213189852947835e-05, + "observation_loss": 9.674139619164634e-06, + "chamfer": 7.435764928231947e-06, + "track": 2.2383746909326874e-06, + "acceleration": 5.390498358792684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.740266250446439e-06, + "observation_loss": 9.528394002700225e-06, + "chamfer": 7.331391771003837e-06, + "track": 2.1970022316963878e-06, + "acceleration": 2.1187183563142753e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.517771104583517e-06, + "observation_loss": 9.285156920668669e-06, + "chamfer": 7.152923444664339e-06, + "track": 2.132233703378006e-06, + "acceleration": 2.326144823427967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.714793122839183e-06, + "observation_loss": 9.071305612451397e-06, + "chamfer": 7.006463874859037e-06, + "track": 2.0648419649660354e-06, + "acceleration": 6.4348779460488e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2937155588588212e-05, + "observation_loss": 9.149664037977345e-06, + "chamfer": 7.033412202872569e-06, + "track": 2.116251607731101e-06, + "acceleration": 3.787491777984542e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1751586498576216e-05, + "observation_loss": 9.34756735659903e-06, + "chamfer": 7.15872602086165e-06, + "track": 2.1888413357373793e-06, + "acceleration": 2.404018914603512e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1174282917636447e-05, + "observation_loss": 9.377445167046972e-06, + "chamfer": 7.191689292085357e-06, + "track": 2.1857558749616146e-06, + "acceleration": 1.7968374095289619e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0973143616865855e-05, + "observation_loss": 9.387819773110095e-06, + "chamfer": 7.175422979344148e-06, + "track": 2.2123965663922718e-06, + "acceleration": 1.5853241848162725e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.048115245794179e-05, + "observation_loss": 9.426179531146772e-06, + "chamfer": 7.195573289209278e-06, + "track": 2.2306060145638185e-06, + "acceleration": 1.0549731541686924e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0334990292903967e-05, + "observation_loss": 9.566085282131098e-06, + "chamfer": 7.278813427546993e-06, + "track": 2.2872720819577808e-06, + "acceleration": 7.689048402426124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0202709745499305e-05, + "observation_loss": 9.715513442642987e-06, + "chamfer": 7.350792202487355e-06, + "track": 2.364721467529307e-06, + "acceleration": 4.871963028563187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0052901416202076e-05, + "observation_loss": 9.912979294313118e-06, + "chamfer": 7.479166015400551e-06, + "track": 2.4338128241652157e-06, + "acceleration": 1.399222071540862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0280779861204792e-05, + "observation_loss": 1.0204930731561035e-05, + "chamfer": 7.682246177864727e-06, + "track": 2.5226847810699837e-06, + "acceleration": 7.584878147781637e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0522333468543366e-05, + "observation_loss": 1.0412051778985187e-05, + "chamfer": 7.822549378033727e-06, + "track": 2.5895021735777846e-06, + "acceleration": 1.1028129875967352e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.06100724224234e-05, + "observation_loss": 1.0495230526430532e-05, + "chamfer": 7.86631426308304e-06, + "track": 2.628916490721167e-06, + "acceleration": 1.1484210915568838e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0716648830566555e-05, + "observation_loss": 1.056028668244835e-05, + "chamfer": 7.908026418590453e-06, + "track": 2.6522602638578974e-06, + "acceleration": 1.5636173600341863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0795250091177877e-05, + "observation_loss": 1.0637908417265862e-05, + "chamfer": 7.947430276544765e-06, + "track": 2.6904776859737467e-06, + "acceleration": 1.5734164549030538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.075794716598466e-05, + "observation_loss": 1.0653992831066716e-05, + "chamfer": 7.949672180984635e-06, + "track": 2.704320422708406e-06, + "acceleration": 1.0395444149935429e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0918048246821854e-05, + "observation_loss": 1.0643377208907623e-05, + "chamfer": 7.940643627080135e-06, + "track": 2.7027338092011632e-06, + "acceleration": 2.7467123686619743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.085612802853575e-05, + "observation_loss": 1.0710506103350781e-05, + "chamfer": 7.978986104717478e-06, + "track": 2.731520226006978e-06, + "acceleration": 1.4562164096787455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0895493687712587e-05, + "observation_loss": 1.0787199244077783e-05, + "chamfer": 8.014536433620378e-06, + "track": 2.77266303783108e-06, + "acceleration": 1.0829470653561657e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0937762453977484e-05, + "observation_loss": 1.0848855708900373e-05, + "chamfer": 8.053541932895314e-06, + "track": 2.795314003378735e-06, + "acceleration": 8.890635427860616e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.1007627108483575e-05, + "observation_loss": 1.0928846677416004e-05, + "chamfer": 8.098976650217082e-06, + "track": 2.8298702545725973e-06, + "acceleration": 7.878050212184462e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0994186595780775e-05, + "observation_loss": 1.0886170457524713e-05, + "chamfer": 8.075712685240433e-06, + "track": 2.810457999657956e-06, + "acceleration": 1.0801610272892503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0834345630428288e-05, + "observation_loss": 1.0739719073171727e-05, + "chamfer": 7.983177056303248e-06, + "track": 2.756542244242155e-06, + "acceleration": 9.462612382549196e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.283915950831519e-06, + "chamfer_mean": 5.564797656158286e-06, + "track_mean": 1.5048614233255837e-06, + "acceleration_mean": 1.214256892367871e-06, + "observation_score": 7.069659076819335e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.430275228998653 + }, + "score_arrays_file": "pass_scores/pass_end_0344.npz", + "score_arrays_sha256": "4b44403a13c17c60bcee036ea915d859d0e2754454411cc887d7ca9995a1b18e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0345.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0345.json new file mode 100644 index 0000000000000000000000000000000000000000..312a3abad38d285a7e5437344097c7e5f65e02a1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0345.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33120, + "completed_passes": 345, + "snapshot": "pass_end_0345", + "candidate": true, + "snapshot_arrays_sha256": "357d5f11546538a5b1434e83d76cb65cc4cab84f3d5e05e53d82fd0fde2c66ae", + "score": 7.0650386329399835e-06, + "score_result": { + "score": 7.0650386329399835e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8753765946021304e-06, + 3.1524400583293755e-06, + 3.227019760743133e-06, + 3.6622518564399797e-06, + 4.185766556474846e-06, + 4.417186119098915e-06, + 4.1715652514540125e-06, + 4.001857632829342e-06, + 3.9341471165244e-06, + 4.020241703983629e-06, + 4.392170922074001e-06, + 4.841362169827335e-06, + 5.143899215909187e-06, + 5.341554242477287e-06, + 5.33472302777227e-06, + 5.225475433690008e-06, + 4.870577868132386e-06, + 4.483013071876485e-06, + 4.313320005167043e-06, + 4.316379545343807e-06, + 4.27278200731962e-06, + 4.116995569347637e-06, + 4.011000783066265e-06, + 4.032247034047032e-06, + 4.110096142539987e-06, + 4.34406183558167e-06, + 4.723925485450309e-06, + 4.902142791252118e-06, + 4.852097845287062e-06, + 4.836498646909604e-06, + 5.064050583314383e-06, + 5.3527255658991635e-06, + 5.708456228603609e-06, + 5.9747703744506e-06, + 6.03252283326583e-06, + 6.017392934154486e-06, + 6.148332431621384e-06, + 6.3219886214938015e-06, + 6.079682407289511e-06, + 5.648169462801889e-06, + 5.488190709002083e-06, + 5.689557383448118e-06, + 5.8743180488818325e-06, + 6.074759312468814e-06, + 6.160446901048999e-06, + 6.228346137504559e-06, + 6.369494712998858e-06, + 6.834866326244082e-06, + 7.430840469169198e-06, + 7.772340723022353e-06, + 7.640825060661882e-06, + 7.429252946167253e-06, + 7.2350130722043104e-06, + 7.0559754021815024e-06, + 7.045510301395552e-06, + 7.0868040893401485e-06, + 7.159148935897974e-06, + 7.2412053668813314e-06, + 7.32348325982457e-06, + 7.471810022252612e-06, + 7.6324213296175e-06, + 7.810641363903414e-06, + 8.188662832253613e-06, + 8.705115760676563e-06, + 9.307315849582665e-06, + 9.644138117437251e-06, + 9.87199746305123e-06, + 1.0106181434821337e-05, + 1.0226411177427508e-05, + 1.0113905773323495e-05, + 9.821789717534557e-06, + 9.675539331510663e-06, + 9.526530448056292e-06, + 9.281216080125887e-06, + 9.063868674275e-06, + 9.145675903710071e-06, + 9.344035788672045e-06, + 9.376364687341265e-06, + 9.384388249600306e-06, + 9.419932212040294e-06, + 9.558782949170563e-06, + 9.707418030302506e-06, + 9.903622412821278e-06, + 1.0193978596362285e-05, + 1.0400965038570575e-05, + 1.0483609003131278e-05, + 1.0548645150265656e-05, + 1.0626197763485834e-05, + 1.0642251254466828e-05, + 1.0631358236423694e-05, + 1.0698267942643724e-05, + 1.0774956535897218e-05, + 1.083662937162444e-05, + 1.0916571227426175e-05, + 1.0873952305701096e-05, + 1.0727913831942715e-05 + ] + ], + "episode_mean_losses": [ + 7.0650386329399835e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8753765946021304e-06, + "observation_loss": 2.8753765946021304e-06, + "chamfer": 2.4387004486925434e-06, + "track": 4.366762311747152e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.16204275097698e-05, + "observation_loss": 3.1524400583293755e-06, + "chamfer": 2.6660156891011866e-06, + "track": 4.8642431238477e-07, + "acceleration": 3.846798790618777e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.301475433341693e-05, + "observation_loss": 3.227019760743133e-06, + "chamfer": 2.7329538170306478e-06, + "track": 4.940660005559039e-07, + "acceleration": 1.9787734345300123e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.004837395157665e-05, + "observation_loss": 3.6622518564399797e-06, + "chamfer": 3.088940957240993e-06, + "track": 5.733108991989866e-07, + "acceleration": 6.386122549884021e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.685772975994041e-06, + "observation_loss": 4.185766556474846e-06, + "chamfer": 3.5109412692690967e-06, + "track": 6.748252303623303e-07, + "acceleration": 1.500006533206033e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.500140105141327e-06, + "observation_loss": 4.417186119098915e-06, + "chamfer": 3.695286522997776e-06, + "track": 7.21899482414301e-07, + "acceleration": 1.0829542134160874e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.78934271086473e-06, + "observation_loss": 4.1715652514540125e-06, + "chamfer": 3.494516931823455e-06, + "track": 6.7704820594372e-07, + "acceleration": 6.177774594107177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.607210939866491e-06, + "observation_loss": 4.001857632829342e-06, + "chamfer": 3.358031335665146e-06, + "track": 6.438261834773584e-07, + "acceleration": 6.05353136506892e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.418013759277528e-06, + "observation_loss": 3.9341471165244e-06, + "chamfer": 3.3062822240026435e-06, + "track": 6.278650630520133e-07, + "acceleration": 4.83866642753128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.325539066485362e-06, + "observation_loss": 4.020241703983629e-06, + "chamfer": 3.377436314622173e-06, + "track": 6.428055030482938e-07, + "acceleration": 3.052973340800236e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.536454980552662e-06, + "observation_loss": 4.392170922074001e-06, + "chamfer": 3.6809856283070985e-06, + "track": 7.11185180080065e-07, + "acceleration": 1.4428391637011373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.932468073093332e-06, + "observation_loss": 4.841362169827335e-06, + "chamfer": 4.042022283101687e-06, + "track": 7.993397730388097e-07, + "acceleration": 9.110584642257891e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.245438387646573e-06, + "observation_loss": 5.143899215909187e-06, + "chamfer": 4.291040568205062e-06, + "track": 8.528587613909622e-07, + "acceleration": 1.0153910068311234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.448184765555197e-06, + "observation_loss": 5.341554242477287e-06, + "chamfer": 4.459663159650518e-06, + "track": 8.818912533570256e-07, + "acceleration": 1.0663060834303906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.395542757469229e-06, + "observation_loss": 5.33472302777227e-06, + "chamfer": 4.4580892790690996e-06, + "track": 8.766336918597517e-07, + "acceleration": 6.081953074499324e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.348638751456747e-06, + "observation_loss": 5.225475433690008e-06, + "chamfer": 4.3687227844202425e-06, + "track": 8.567527061131841e-07, + "acceleration": 1.2316318986904662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.072834937891457e-06, + "observation_loss": 4.870577868132386e-06, + "chamfer": 4.077365247212583e-06, + "track": 7.932124503895466e-07, + "acceleration": 2.022571976567633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.810996415471891e-06, + "observation_loss": 4.483013071876485e-06, + "chamfer": 3.756964815693209e-06, + "track": 7.260481993398571e-07, + "acceleration": 3.279835141256626e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.489048933464801e-06, + "observation_loss": 4.313320005167043e-06, + "chamfer": 3.6127942166785942e-06, + "track": 7.005259590187052e-07, + "acceleration": 1.7572907040630525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.464126504899468e-06, + "observation_loss": 4.316379545343807e-06, + "chamfer": 3.611246484069852e-06, + "track": 7.051329475871171e-07, + "acceleration": 1.4774678902540472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.573812020680634e-06, + "observation_loss": 4.27278200731962e-06, + "chamfer": 3.5737768939725356e-06, + "track": 6.990051133470843e-07, + "acceleration": 3.010298144090484e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.478082246350823e-06, + "observation_loss": 4.116995569347637e-06, + "chamfer": 3.446503114901134e-06, + "track": 6.704925112899218e-07, + "acceleration": 3.6108670542489563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.691762569564162e-06, + "observation_loss": 4.011000783066265e-06, + "chamfer": 3.363688165336498e-06, + "track": 6.473125608863484e-07, + "acceleration": 6.807616728110588e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.947161414747825e-06, + "observation_loss": 4.032247034047032e-06, + "chamfer": 3.3766557407943765e-06, + "track": 6.555913500960742e-07, + "acceleration": 9.149145512310497e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.749382696900284e-06, + "observation_loss": 4.110096142539987e-06, + "chamfer": 3.423786893108627e-06, + "track": 6.863093631181982e-07, + "acceleration": 6.3928638383004e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.648427420761436e-06, + "observation_loss": 4.34406183558167e-06, + "chamfer": 3.5986861348646926e-06, + "track": 7.453755301867204e-07, + "acceleration": 3.0436549991463835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.948210062138969e-06, + "observation_loss": 4.723925485450309e-06, + "chamfer": 3.888222636305727e-06, + "track": 8.357029059880006e-07, + "acceleration": 2.242845624778056e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.144263923284598e-06, + "observation_loss": 4.902142791252118e-06, + "chamfer": 4.024298505100887e-06, + "track": 8.778441724643926e-07, + "acceleration": 2.421211320324801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.34505988980527e-06, + "observation_loss": 4.852097845287062e-06, + "chamfer": 3.9849451241025236e-06, + "track": 8.67152607497701e-07, + "acceleration": 4.929620445182081e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.295249593473272e-06, + "observation_loss": 4.836498646909604e-06, + "chamfer": 3.982452653872315e-06, + "track": 8.540458793504513e-07, + "acceleration": 4.5875077603341197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.376222816266818e-06, + "observation_loss": 5.064050583314383e-06, + "chamfer": 4.172557055426296e-06, + "track": 8.914934710446687e-07, + "acceleration": 3.121721476873063e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.651271294482285e-06, + "observation_loss": 5.3527255658991635e-06, + "chamfer": 4.4000244088238105e-06, + "track": 9.527010433885152e-07, + "acceleration": 2.9854581384824996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.804882675874978e-06, + "observation_loss": 5.708456228603609e-06, + "chamfer": 4.68626740257605e-06, + "track": 1.0221889397143968e-06, + "acceleration": 9.642627674111282e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.15776434642612e-06, + "observation_loss": 5.9747703744506e-06, + "chamfer": 4.889918272965588e-06, + "track": 1.0848519877981744e-06, + "acceleration": 1.8299394355381082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.289563771133544e-06, + "observation_loss": 6.03252283326583e-06, + "chamfer": 4.939292011840735e-06, + "track": 1.0932307077382575e-06, + "acceleration": 2.570411368196801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.6381762735545635e-06, + "observation_loss": 6.017392934154486e-06, + "chamfer": 4.917097157886019e-06, + "track": 1.1002956625816296e-06, + "acceleration": 6.207831120264018e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.5887105595029425e-06, + "observation_loss": 6.148332431621384e-06, + "chamfer": 4.996961706638103e-06, + "track": 1.151370952356956e-06, + "acceleration": 1.4403782415683963e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.167373380274512e-06, + "observation_loss": 6.3219886214938015e-06, + "chamfer": 5.125466486788355e-06, + "track": 1.1965222483922844e-06, + "acceleration": 1.8453850998412236e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.485510079481173e-06, + "observation_loss": 6.079682407289511e-06, + "chamfer": 4.950198217557045e-06, + "track": 1.1294840760456282e-06, + "acceleration": 2.405827899565338e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 8.592141057306435e-06, + "observation_loss": 5.648169462801889e-06, + "chamfer": 4.613442342815688e-06, + "track": 1.034727006299363e-06, + "acceleration": 2.943971367130871e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.328944775508717e-06, + "observation_loss": 5.488190709002083e-06, + "chamfer": 4.486402303882642e-06, + "track": 1.0017884051194414e-06, + "acceleration": 1.8407540665066335e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.642250809818506e-06, + "observation_loss": 5.689557383448118e-06, + "chamfer": 4.629122031474253e-06, + "track": 1.0604353519738652e-06, + "acceleration": 9.526934832138068e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.63733532949118e-06, + "observation_loss": 5.8743180488818325e-06, + "chamfer": 4.753183020511642e-06, + "track": 1.1211349146833527e-06, + "acceleration": 1.76301762166986e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.320311397052137e-06, + "observation_loss": 6.074759312468814e-06, + "chamfer": 4.899314262729604e-06, + "track": 1.1754451634260477e-06, + "acceleration": 1.2455520845833234e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.779760951758362e-06, + "observation_loss": 6.160446901048999e-06, + "chamfer": 4.9622231017565355e-06, + "track": 1.1982240266661393e-06, + "acceleration": 6.193141075527819e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.907644092279952e-06, + "observation_loss": 6.228346137504559e-06, + "chamfer": 5.011853772884933e-06, + "track": 1.2164923646196257e-06, + "acceleration": 6.792977842451364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.771217613277258e-06, + "observation_loss": 6.369494712998858e-06, + "chamfer": 5.123470145917963e-06, + "track": 1.2460245670808945e-06, + "acceleration": 4.017227865915629e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.212634500319837e-06, + "observation_loss": 6.834866326244082e-06, + "chamfer": 5.474773388414178e-06, + "track": 1.3600929378299043e-06, + "acceleration": 3.7776806038891664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.777863174851518e-06, + "observation_loss": 7.430840469169198e-06, + "chamfer": 5.897014034417225e-06, + "track": 1.5338264347519726e-06, + "acceleration": 3.470230751645431e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.174478352884762e-06, + "observation_loss": 7.772340723022353e-06, + "chamfer": 6.145360657683341e-06, + "track": 1.626979724278499e-06, + "acceleration": 4.021373456453148e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 7.990573067218065e-06, + "observation_loss": 7.640825060661882e-06, + "chamfer": 6.058549388399115e-06, + "track": 1.5822755585759296e-06, + "acceleration": 3.497479212910548e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.702826223976444e-06, + "observation_loss": 7.429252946167253e-06, + "chamfer": 5.912866981816478e-06, + "track": 1.5163857369770994e-06, + "acceleration": 2.7357287990525947e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.375330369541189e-06, + "observation_loss": 7.2350130722043104e-06, + "chamfer": 5.765835794591112e-06, + "track": 1.4691773913000361e-06, + "acceleration": 1.4031708417405753e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.102021299942862e-06, + "observation_loss": 7.0559754021815024e-06, + "chamfer": 5.63092362426687e-06, + "track": 1.4250520052883076e-06, + "acceleration": 4.604586223422302e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.116232154658064e-06, + "observation_loss": 7.045510301395552e-06, + "chamfer": 5.61892966288724e-06, + "track": 1.4265807521951501e-06, + "acceleration": 7.072176089195636e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.18341107130982e-06, + "observation_loss": 7.0868040893401485e-06, + "chamfer": 5.639823484671069e-06, + "track": 1.446980718355917e-06, + "acceleration": 9.660714539450055e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.215064670162974e-06, + "observation_loss": 7.159148935897974e-06, + "chamfer": 5.689590580004733e-06, + "track": 1.4695583558932412e-06, + "acceleration": 5.591578045027745e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.443012236763025e-06, + "observation_loss": 7.2412053668813314e-06, + "chamfer": 5.736801995226415e-06, + "track": 1.5044032579680788e-06, + "acceleration": 2.0180694093596685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.860721780161839e-06, + "observation_loss": 7.32348325982457e-06, + "chamfer": 5.800449343951186e-06, + "track": 1.5230336884997087e-06, + "acceleration": 5.372386908675253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.590724064561073e-06, + "observation_loss": 7.471810022252612e-06, + "chamfer": 5.89903265790781e-06, + "track": 1.5727774780316395e-06, + "acceleration": 1.1189141559952986e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.247643902199343e-06, + "observation_loss": 7.6324213296175e-06, + "chamfer": 6.024377853464102e-06, + "track": 1.608043817213911e-06, + "acceleration": 1.6152230273291934e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.77950333233457e-06, + "observation_loss": 7.810641363903414e-06, + "chamfer": 6.161945748317521e-06, + "track": 1.648695388212218e-06, + "acceleration": 9.68862423178507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.600909495726228e-06, + "observation_loss": 8.188662832253613e-06, + "chamfer": 6.4357273004134186e-06, + "track": 1.752935986587545e-06, + "acceleration": 4.122470613765472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.011820111481939e-06, + "observation_loss": 8.705115760676563e-06, + "chamfer": 6.788249265810009e-06, + "track": 1.9168662674928783e-06, + "acceleration": 3.0670392447973427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.431454600417055e-06, + "observation_loss": 9.307315849582665e-06, + "chamfer": 7.198466846602969e-06, + "track": 2.108849002979696e-06, + "acceleration": 1.2413865135840751e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.74315025814576e-06, + "observation_loss": 9.644138117437251e-06, + "chamfer": 7.4280210355937015e-06, + "track": 2.216117309217225e-06, + "acceleration": 9.90123467659032e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0165636012970936e-05, + "observation_loss": 9.87199746305123e-06, + "chamfer": 7.58592386773671e-06, + "track": 2.2860731405671686e-06, + "acceleration": 2.9363883413680014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0291244507243391e-05, + "observation_loss": 1.0106181434821337e-05, + "chamfer": 7.72538533055922e-06, + "track": 2.3807963316357927e-06, + "acceleration": 1.8506312926547253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0352877325203735e-05, + "observation_loss": 1.0226411177427508e-05, + "chamfer": 7.797425496391952e-06, + "track": 2.4289854536618805e-06, + "acceleration": 1.264657356614407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0465658306202386e-05, + "observation_loss": 1.0113905773323495e-05, + "chamfer": 7.720435860392172e-06, + "track": 2.393469912931323e-06, + "acceleration": 3.5175216339666804e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0711831237131264e-05, + "observation_loss": 9.821789717534557e-06, + "chamfer": 7.540303158748429e-06, + "track": 2.2814863314124523e-06, + "acceleration": 8.900419175006391e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0221875527349766e-05, + "observation_loss": 9.675539331510663e-06, + "chamfer": 7.436783562297933e-06, + "track": 2.2387557692127302e-06, + "acceleration": 5.463358547785901e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.741131179907825e-06, + "observation_loss": 9.526530448056292e-06, + "chamfer": 7.330098469537916e-06, + "track": 2.196431978518376e-06, + "acceleration": 2.1460103027948207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.51530546444701e-06, + "observation_loss": 9.281216080125887e-06, + "chamfer": 7.149941666284576e-06, + "track": 2.1312741864676354e-06, + "acceleration": 2.3408929905599507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.687401870905887e-06, + "observation_loss": 9.063868674275e-06, + "chamfer": 7.000727691774955e-06, + "track": 2.063140755126369e-06, + "acceleration": 6.235329692572122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.281964432564564e-05, + "observation_loss": 9.145675903710071e-06, + "chamfer": 7.031224413367454e-06, + "track": 2.1144512629689416e-06, + "acceleration": 3.6739688766829204e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1793568774010055e-05, + "observation_loss": 9.344035788672045e-06, + "chamfer": 7.155860657803714e-06, + "track": 2.188175358242006e-06, + "acceleration": 2.4495334400853608e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1239229934290051e-05, + "observation_loss": 9.376364687341265e-06, + "chamfer": 7.190915766841499e-06, + "track": 2.1854491478734417e-06, + "acceleration": 1.8628655880092992e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0986974302795716e-05, + "observation_loss": 9.384388249600306e-06, + "chamfer": 7.1730705712980125e-06, + "track": 2.2113181330496445e-06, + "acceleration": 1.6025855984480586e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0503876183065586e-05, + "observation_loss": 9.419932212040294e-06, + "chamfer": 7.190948508650763e-06, + "track": 2.228983703389531e-06, + "acceleration": 1.0839437436516164e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.03384954854846e-05, + "observation_loss": 9.558782949170563e-06, + "chamfer": 7.2738444032438565e-06, + "track": 2.2849383185530314e-06, + "acceleration": 7.79712422627199e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0194223250437062e-05, + "observation_loss": 9.707418030302506e-06, + "chamfer": 7.3454352786939126e-06, + "track": 2.361982524234918e-06, + "acceleration": 4.868053906648129e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.00417819339782e-05, + "observation_loss": 9.903622412821278e-06, + "chamfer": 7.47287094782223e-06, + "track": 2.430751464999048e-06, + "acceleration": 1.381593506266654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.026875997922616e-05, + "observation_loss": 1.0193978596362285e-05, + "chamfer": 7.674852895434014e-06, + "track": 2.5191254735545954e-06, + "acceleration": 7.4781631553833e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.051050639944151e-05, + "observation_loss": 1.0400965038570575e-05, + "chamfer": 7.81522521720035e-06, + "track": 2.5857398213702254e-06, + "acceleration": 1.0954156692832839e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.05971448647324e-05, + "observation_loss": 1.0483609003131278e-05, + "chamfer": 7.858679964556359e-06, + "track": 2.6249292659485945e-06, + "acceleration": 1.1353627371590846e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0703926818678156e-05, + "observation_loss": 1.0548645150265656e-05, + "chamfer": 7.900332093413454e-06, + "track": 2.6483132842258783e-06, + "acceleration": 1.5528121366514824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0782415301946457e-05, + "observation_loss": 1.0626197763485834e-05, + "chamfer": 7.939645001897588e-06, + "track": 2.6865523068408947e-06, + "acceleration": 1.562179363645555e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0745093277364504e-05, + "observation_loss": 1.0642251254466828e-05, + "chamfer": 7.941962394397706e-06, + "track": 2.700288860069122e-06, + "acceleration": 1.0284191631626527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0905374438152649e-05, + "observation_loss": 1.0631358236423694e-05, + "chamfer": 7.93279741628794e-06, + "track": 2.6985603653884027e-06, + "acceleration": 2.7401631541579263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0843642485269811e-05, + "observation_loss": 1.0698267942643724e-05, + "chamfer": 7.971048034960404e-06, + "track": 2.727219680309645e-06, + "acceleration": 1.4537492631916393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0883806680794805e-05, + "observation_loss": 1.0774956535897218e-05, + "chamfer": 8.0065965448739e-06, + "track": 2.768359536275966e-06, + "acceleration": 1.0885035095498097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0925573405984323e-05, + "observation_loss": 1.083662937162444e-05, + "chamfer": 8.045638423936907e-06, + "track": 2.7909907203138573e-06, + "acceleration": 8.894397751646466e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0995309821737465e-05, + "observation_loss": 1.0916571227426175e-05, + "chamfer": 8.091091331152711e-06, + "track": 2.8254796688997885e-06, + "acceleration": 7.873857299500742e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0981952982547227e-05, + "observation_loss": 1.0873952305701096e-05, + "chamfer": 8.06787284091115e-06, + "track": 2.8060794647899456e-06, + "acceleration": 1.0800057026472132e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0822562217072118e-05, + "observation_loss": 1.0727913831942715e-05, + "chamfer": 7.975620974320918e-06, + "track": 2.7522924028744455e-06, + "acceleration": 9.464843486739483e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.293597692462148e-06, + "chamfer_mean": 5.561428208030368e-06, + "track_mean": 1.5036103890864183e-06, + "acceleration_mean": 1.2285590850943013e-06, + "observation_score": 7.0650386329399835e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4386778009993577 + }, + "score_arrays_file": "pass_scores/pass_end_0345.npz", + "score_arrays_sha256": "e053c4d9ed70a7abc955a9d816f4bd9a5c24ca2b6c2c90c50480701d65c7ad3f" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0346.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0346.json new file mode 100644 index 0000000000000000000000000000000000000000..7ba2291d52fd351e2632f138743974935beef727 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0346.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33216, + "completed_passes": 346, + "snapshot": "pass_end_0346", + "candidate": true, + "snapshot_arrays_sha256": "830f230cbd49a74e6a70eacebdff192bd701189658b815d235449b63c0d3e5ea", + "score": 7.059400888446514e-06, + "score_result": { + "score": 7.059400888446514e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.875666723411996e-06, + 3.152332510580891e-06, + 3.225969749109936e-06, + 3.6612407257052837e-06, + 4.185056241112761e-06, + 4.417152467794949e-06, + 4.1717335079738405e-06, + 4.0009745134739205e-06, + 3.932475010515191e-06, + 4.017691026092507e-06, + 4.389222794998204e-06, + 4.83787152916193e-06, + 5.139783752383664e-06, + 5.336635695130099e-06, + 5.329794475983363e-06, + 5.221098035690375e-06, + 4.866430572292302e-06, + 4.478960363485385e-06, + 4.310029908083379e-06, + 4.31370335718384e-06, + 4.2705123632913455e-06, + 4.11337032346637e-06, + 4.005960818176391e-06, + 4.028189323435072e-06, + 4.108195298613282e-06, + 4.343180535215652e-06, + 4.720284778159112e-06, + 4.894278845313238e-06, + 4.843247097596759e-06, + 4.829988938581664e-06, + 5.060460352979135e-06, + 5.351877916837111e-06, + 5.712039182981243e-06, + 5.979276465950534e-06, + 6.038268111296929e-06, + 6.016629413352348e-06, + 6.144684448372573e-06, + 6.321638466033619e-06, + 6.073766599001829e-06, + 5.648273145197891e-06, + 5.4875245041330345e-06, + 5.684683856088668e-06, + 5.875197530258447e-06, + 6.0696256696246564e-06, + 6.152191417641006e-06, + 6.2229851209849585e-06, + 6.360141924233176e-06, + 6.827418019383913e-06, + 7.423448550980538e-06, + 7.758113497402519e-06, + 7.622165867360309e-06, + 7.415329491777811e-06, + 7.224128239613492e-06, + 7.048431598377647e-06, + 7.040099262667354e-06, + 7.082078809617087e-06, + 7.155898856581189e-06, + 7.237947556859581e-06, + 7.32031776351505e-06, + 7.469014235539362e-06, + 7.630406798853073e-06, + 7.809810995240696e-06, + 8.188485480786767e-06, + 8.705738764547277e-06, + 9.308942935604136e-06, + 9.647008482716046e-06, + 9.875413525151089e-06, + 1.0111105439136736e-05, + 1.0231829946860671e-05, + 1.011951553664403e-05, + 9.82689562079031e-06, + 9.678185961092822e-06, + 9.526620488031767e-06, + 9.279122423322406e-06, + 9.057224815478548e-06, + 9.140810107055586e-06, + 9.33638420974603e-06, + 9.369132385472767e-06, + 9.3739718067809e-06, + 9.406928256794345e-06, + 9.545078683004249e-06, + 9.693638276075944e-06, + 9.888794920698274e-06, + 1.0176860996580217e-05, + 1.0384032975707669e-05, + 1.0465815648785792e-05, + 1.0530407962505706e-05, + 1.0606801879475825e-05, + 1.062332285073353e-05, + 1.0612463483994361e-05, + 1.0678360922611319e-05, + 1.075454565580003e-05, + 1.0816434041771572e-05, + 1.089617217076011e-05, + 1.0853495950868819e-05, + 1.070803773473017e-05 + ] + ], + "episode_mean_losses": [ + 7.059400888446514e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.875666723411996e-06, + "observation_loss": 2.875666723411996e-06, + "chamfer": 2.438930096104741e-06, + "track": 4.367365988855454e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.163089033681899e-05, + "observation_loss": 3.152332510580891e-06, + "chamfer": 2.6659213290258776e-06, + "track": 4.864111247115943e-07, + "acceleration": 3.8478556234622374e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3013406462268904e-05, + "observation_loss": 3.225969749109936e-06, + "chamfer": 2.732078201006516e-06, + "track": 4.938915481034201e-07, + "acceleration": 1.978743603103794e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0047120667877607e-05, + "observation_loss": 3.6612407257052837e-06, + "chamfer": 3.0880864869686775e-06, + "track": 5.731542955800251e-07, + "acceleration": 6.385879714798648e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.684451934939716e-06, + "observation_loss": 4.185056241112761e-06, + "chamfer": 3.51031189893547e-06, + "track": 6.747441716470348e-07, + "acceleration": 1.4993958075137925e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.499507551576244e-06, + "observation_loss": 4.417152467794949e-06, + "chamfer": 3.6952017126168357e-06, + "track": 7.219507551781135e-07, + "acceleration": 1.0823550837812945e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.787861598742893e-06, + "observation_loss": 4.1717335079738405e-06, + "chamfer": 3.494575594231719e-06, + "track": 6.771579705855402e-07, + "acceleration": 6.161279202387959e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.608456492860569e-06, + "observation_loss": 4.0009745134739205e-06, + "chamfer": 3.3572207485121908e-06, + "track": 6.437537649617298e-07, + "acceleration": 6.074820930734859e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4157736738270614e-06, + "observation_loss": 3.932475010515191e-06, + "chamfer": 3.304824076622026e-06, + "track": 6.276510475800023e-07, + "acceleration": 4.832987769987085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.321687811170705e-06, + "observation_loss": 4.017691026092507e-06, + "chamfer": 3.3752819490473485e-06, + "track": 6.42408849671483e-07, + "acceleration": 3.0399667139136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.53310394732398e-06, + "observation_loss": 4.389222794998204e-06, + "chamfer": 3.678549092001049e-06, + "track": 7.106735324668989e-07, + "acceleration": 1.438813654885962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.929117949359352e-06, + "observation_loss": 4.83787152916193e-06, + "chamfer": 4.039164650748717e-06, + "track": 7.987069921000511e-07, + "acceleration": 9.124629229972925e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.241467079031281e-06, + "observation_loss": 5.139783752383664e-06, + "chamfer": 4.287680440029362e-06, + "track": 8.521031986674643e-07, + "acceleration": 1.0168343322902729e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.443205282062991e-06, + "observation_loss": 5.336635695130099e-06, + "chamfer": 4.455638645595172e-06, + "track": 8.809969358480885e-07, + "acceleration": 1.065697503577212e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.39057236892404e-06, + "observation_loss": 5.329794475983363e-06, + "chamfer": 4.454061581782298e-06, + "track": 8.757327805142268e-07, + "acceleration": 6.077809189264372e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.344267719920026e-06, + "observation_loss": 5.221098035690375e-06, + "chamfer": 4.365145287010819e-06, + "track": 8.559529760532314e-07, + "acceleration": 1.2316955633195903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.068775863037445e-06, + "observation_loss": 4.866430572292302e-06, + "chamfer": 4.0739623727859e-06, + "track": 7.924680858195643e-07, + "acceleration": 2.0234512021488626e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.80772314404021e-06, + "observation_loss": 4.478960363485385e-06, + "chamfer": 3.753602186407079e-06, + "track": 7.25358063391468e-07, + "acceleration": 3.287626668679877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.486910711420933e-06, + "observation_loss": 4.310029908083379e-06, + "chamfer": 3.6100252600590466e-06, + "track": 7.000044206506573e-07, + "acceleration": 1.7688071807242522e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.459564934222726e-06, + "observation_loss": 4.31370335718384e-06, + "chamfer": 3.6089859349885955e-06, + "track": 7.047173653518257e-07, + "acceleration": 1.4586179020170675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.57252235719352e-06, + "observation_loss": 4.2705123632913455e-06, + "chamfer": 3.5718342132895486e-06, + "track": 6.986781500017969e-07, + "acceleration": 3.020100507455936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.481237738218624e-06, + "observation_loss": 4.11337032346637e-06, + "chamfer": 3.4434726785548264e-06, + "track": 6.698975880681246e-07, + "acceleration": 3.67867528439092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.7031471694936045e-06, + "observation_loss": 4.005960818176391e-06, + "chamfer": 3.3594396882108413e-06, + "track": 6.465211868089682e-07, + "acceleration": 6.971864650040516e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.968197117705131e-06, + "observation_loss": 4.028189323435072e-06, + "chamfer": 3.3731921575963497e-06, + "track": 6.549969384650467e-07, + "acceleration": 9.400076805832214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.749442723550601e-06, + "observation_loss": 4.108195298613282e-06, + "chamfer": 3.422093641347601e-06, + "track": 6.861017709525186e-07, + "acceleration": 6.412472544070624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.649004495149711e-06, + "observation_loss": 4.343180535215652e-06, + "chamfer": 3.5978002870251657e-06, + "track": 7.453804187207425e-07, + "acceleration": 3.0582407362089725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.952238668920472e-06, + "observation_loss": 4.720284778159112e-06, + "chamfer": 3.885262231051456e-06, + "track": 8.350227176379121e-07, + "acceleration": 2.3195390497221524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.151259301783284e-06, + "observation_loss": 4.894278845313238e-06, + "chamfer": 4.018243544123834e-06, + "track": 8.760351306591474e-07, + "acceleration": 2.569805417351745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.351545496523613e-06, + "observation_loss": 4.843247097596759e-06, + "chamfer": 3.977770575147588e-06, + "track": 8.654763519189146e-07, + "acceleration": 5.082985126136919e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.292382866173284e-06, + "observation_loss": 4.829988938581664e-06, + "chamfer": 3.977080723416293e-06, + "track": 8.529084425390465e-07, + "acceleration": 4.623939844350389e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.379736649047118e-06, + "observation_loss": 5.060460352979135e-06, + "chamfer": 4.16944021708332e-06, + "track": 8.910203064260713e-07, + "acceleration": 3.1927615395943576e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.653852895193268e-06, + "observation_loss": 5.351877916837111e-06, + "chamfer": 4.398919372761156e-06, + "track": 9.529586577627924e-07, + "acceleration": 3.0197475098248105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.815918484586291e-06, + "observation_loss": 5.712039182981243e-06, + "chamfer": 4.6888239921827335e-06, + "track": 1.0232153044853476e-06, + "acceleration": 1.038792447616288e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.177082923386479e-06, + "observation_loss": 5.979276465950534e-06, + "chamfer": 4.8930992306850385e-06, + "track": 1.086177348952333e-06, + "acceleration": 1.9780634374910733e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.327448318188544e-06, + "observation_loss": 6.038268111296929e-06, + "chamfer": 4.9436821427661926e-06, + "track": 1.0945858548438991e-06, + "acceleration": 2.891801784699055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.623027729801834e-06, + "observation_loss": 6.016629413352348e-06, + "chamfer": 4.917048954666825e-06, + "track": 1.0995803449986852e-06, + "acceleration": 6.063983164494857e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.784756235196255e-06, + "observation_loss": 6.144684448372573e-06, + "chamfer": 4.994690698367776e-06, + "track": 1.149993863691634e-06, + "acceleration": 1.6400719005105202e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.540730050299317e-06, + "observation_loss": 6.321638466033619e-06, + "chamfer": 5.125406914885389e-06, + "track": 1.1962315511482302e-06, + "acceleration": 2.2190913568920223e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.02467911853455e-06, + "observation_loss": 6.073766599001829e-06, + "chamfer": 4.9459972615295555e-06, + "track": 1.1277694511591108e-06, + "acceleration": 1.950912292159046e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 8.27677740744548e-06, + "observation_loss": 5.648273145197891e-06, + "chamfer": 4.613491455529584e-06, + "track": 1.0347818033551448e-06, + "acceleration": 2.628504034873913e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.865281077101827e-06, + "observation_loss": 5.4875245041330345e-06, + "chamfer": 4.485578756430186e-06, + "track": 1.0019458613896859e-06, + "acceleration": 2.377757027716143e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.761891199857928e-06, + "observation_loss": 5.684683856088668e-06, + "chamfer": 4.625589099305216e-06, + "track": 1.0590948704702896e-06, + "acceleration": 1.077207230082422e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.343113793467637e-06, + "observation_loss": 5.875197530258447e-06, + "chamfer": 4.753589109895984e-06, + "track": 1.1216081929887878e-06, + "acceleration": 1.4679160358355148e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.953313797770534e-06, + "observation_loss": 6.0696256696246564e-06, + "chamfer": 4.894866833637934e-06, + "track": 1.17475894967356e-06, + "acceleration": 1.8836881281458773e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.897405000927392e-06, + "observation_loss": 6.152191417641006e-06, + "chamfer": 4.955978056386812e-06, + "track": 1.1962133612541948e-06, + "acceleration": 7.452134127561294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.831640803284245e-06, + "observation_loss": 6.2229851209849585e-06, + "chamfer": 5.007597792427987e-06, + "track": 1.215387214870134e-06, + "acceleration": 6.086558528295427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.744898655597353e-06, + "observation_loss": 6.360141924233176e-06, + "chamfer": 5.116396550874924e-06, + "track": 1.243745600731927e-06, + "acceleration": 3.847568734727247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.235119028337067e-06, + "observation_loss": 6.827418019383913e-06, + "chamfer": 5.469396910484647e-06, + "track": 1.3580211088992655e-06, + "acceleration": 4.0770089526631637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.787396498315502e-06, + "observation_loss": 7.423448550980538e-06, + "chamfer": 5.891373348276829e-06, + "track": 1.5320752027037088e-06, + "acceleration": 3.639476346961601e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.127513865474612e-06, + "observation_loss": 7.758113497402519e-06, + "chamfer": 6.134886461950373e-06, + "track": 1.6232273765126592e-06, + "acceleration": 3.694004533372208e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.070830517681316e-06, + "observation_loss": 7.622165867360309e-06, + "chamfer": 6.044849669706309e-06, + "track": 1.577316425027675e-06, + "acceleration": 4.486643945256219e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.762788300169632e-06, + "observation_loss": 7.415329491777811e-06, + "chamfer": 5.9021913330070674e-06, + "track": 1.513138045083906e-06, + "acceleration": 3.4745843890959804e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.3394394348724745e-06, + "observation_loss": 7.224128239613492e-06, + "chamfer": 5.757221970270621e-06, + "track": 1.466906041969196e-06, + "acceleration": 1.1531141552723057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1181734710989986e-06, + "observation_loss": 7.048431598377647e-06, + "chamfer": 5.624932782666292e-06, + "track": 1.4234989293981926e-06, + "acceleration": 6.974165955853096e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.110023489076411e-06, + "observation_loss": 7.040099262667354e-06, + "chamfer": 5.614654583041556e-06, + "track": 1.4254444522521226e-06, + "acceleration": 6.992420509277508e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.183598881965736e-06, + "observation_loss": 7.082078809617087e-06, + "chamfer": 5.63617641091696e-06, + "track": 1.4459023987001274e-06, + "acceleration": 1.0152017893005905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.21353399057989e-06, + "observation_loss": 7.155898856581189e-06, + "chamfer": 5.687073098670226e-06, + "track": 1.4688259852846386e-06, + "acceleration": 5.7635084260709846e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.439727596647572e-06, + "observation_loss": 7.237947556859581e-06, + "chamfer": 5.734265869250521e-06, + "track": 1.5036816876090597e-06, + "acceleration": 2.0177994031200797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.8581879279227e-06, + "observation_loss": 7.32031776351505e-06, + "chamfer": 5.797902304038871e-06, + "track": 1.5224154594761785e-06, + "acceleration": 5.378702212510689e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.588445780333132e-06, + "observation_loss": 7.469014235539362e-06, + "chamfer": 5.896943093830487e-06, + "track": 1.5720709143351996e-06, + "acceleration": 1.1194316584806074e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.25186941458378e-06, + "observation_loss": 7.630406798853073e-06, + "chamfer": 6.022833986207843e-06, + "track": 1.607572585271555e-06, + "acceleration": 1.6214623883570312e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.78447917784797e-06, + "observation_loss": 7.809810995240696e-06, + "chamfer": 6.161320015962701e-06, + "track": 1.6484913203385076e-06, + "acceleration": 9.746681826072745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.604081813246012e-06, + "observation_loss": 8.188485480786767e-06, + "chamfer": 6.435412160499254e-06, + "track": 1.7530736613480258e-06, + "acceleration": 4.15595877711894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.014459465106484e-06, + "observation_loss": 8.705738764547277e-06, + "chamfer": 6.788478458474856e-06, + "track": 1.917260533446097e-06, + "acceleration": 3.0872035949869314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.433884770260192e-06, + "observation_loss": 9.308942935604136e-06, + "chamfer": 7.199415904324269e-06, + "track": 2.1095270312798675e-06, + "acceleration": 1.2494223255998804e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.747066542331595e-06, + "observation_loss": 9.647008482716046e-06, + "chamfer": 7.42977454137872e-06, + "track": 2.2172343960846774e-06, + "acceleration": 1.000582940946515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0170858331548516e-05, + "observation_loss": 9.875413525151089e-06, + "chamfer": 7.587946129206102e-06, + "track": 2.2874678506923374e-06, + "acceleration": 2.9544460744546086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.029699978971621e-05, + "observation_loss": 1.0111105439136736e-05, + "chamfer": 7.728629498160444e-06, + "track": 2.3824757136026165e-06, + "acceleration": 1.8589402372981567e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0358565305068623e-05, + "observation_loss": 1.0231829946860671e-05, + "chamfer": 7.801029823895078e-06, + "track": 2.4308005777129438e-06, + "acceleration": 1.267357134793201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0471993846294936e-05, + "observation_loss": 1.011951553664403e-05, + "chamfer": 7.723935596004594e-06, + "track": 2.3955799406394362e-06, + "acceleration": 3.5247842333774315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0721115359046962e-05, + "observation_loss": 9.82689562079031e-06, + "chamfer": 7.543796527897939e-06, + "track": 2.283099092892371e-06, + "acceleration": 8.94219681413233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0232512067887e-05, + "observation_loss": 9.678185961092822e-06, + "chamfer": 7.438550255756127e-06, + "track": 2.23963547796302e-06, + "acceleration": 5.543261636375973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.744244380271994e-06, + "observation_loss": 9.526620488031767e-06, + "chamfer": 7.330120752158109e-06, + "track": 2.1964992811263073e-06, + "acceleration": 2.17624005927064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.514081284578424e-06, + "observation_loss": 9.279122423322406e-06, + "chamfer": 7.148192253225716e-06, + "track": 2.1309299427230144e-06, + "acceleration": 2.34958875466873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.653573215473443e-06, + "observation_loss": 9.057224815478548e-06, + "chamfer": 6.995421699684812e-06, + "track": 2.0618031157937367e-06, + "acceleration": 5.96348343151476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.266272010980174e-05, + "observation_loss": 9.140810107055586e-06, + "chamfer": 7.028496838756837e-06, + "track": 2.1123134956724243e-06, + "acceleration": 3.5219104574935045e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1818055099865887e-05, + "observation_loss": 9.33638420974603e-06, + "chamfer": 7.1501003731100354e-06, + "track": 2.1862836092623184e-06, + "acceleration": 2.481670890119858e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1306342457828578e-05, + "observation_loss": 9.369132385472767e-06, + "chamfer": 7.18594537829631e-06, + "track": 2.1831867798027815e-06, + "acceleration": 1.9372100723558106e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0992243005603086e-05, + "observation_loss": 9.3739718067809e-06, + "chamfer": 7.165746410464635e-06, + "track": 2.208225623689941e-06, + "acceleration": 1.6182711988221854e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0519337592995726e-05, + "observation_loss": 9.406928256794345e-06, + "chamfer": 7.18144110578578e-06, + "track": 2.225487151008565e-06, + "acceleration": 1.112409677261894e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.033343232847983e-05, + "observation_loss": 9.545078683004249e-06, + "chamfer": 7.264377018145751e-06, + "track": 2.2807016648584977e-06, + "acceleration": 7.88353361258487e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0176296200370416e-05, + "observation_loss": 9.693638276075944e-06, + "chamfer": 7.3359910857107025e-06, + "track": 2.3576476451125927e-06, + "acceleration": 4.826583790418226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.002479166345438e-05, + "observation_loss": 9.888794920698274e-06, + "chamfer": 7.4626309469749685e-06, + "track": 2.42616374634963e-06, + "acceleration": 1.3599699855149083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0251585990772583e-05, + "observation_loss": 1.0176860996580217e-05, + "chamfer": 7.663042197236791e-06, + "track": 2.5138187993434258e-06, + "acceleration": 7.472455365586939e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.049197726388229e-05, + "observation_loss": 1.0384032975707669e-05, + "chamfer": 7.803814696671907e-06, + "track": 2.580218279035762e-06, + "acceleration": 1.079438618489803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0577664397715125e-05, + "observation_loss": 1.0465815648785792e-05, + "chamfer": 7.84672829468036e-06, + "track": 2.6190868993580807e-06, + "acceleration": 1.1184881287817916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0685242159524933e-05, + "observation_loss": 1.0530407962505706e-05, + "chamfer": 7.88804936746601e-06, + "track": 2.6423581402923446e-06, + "acceleration": 1.548345238688853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.076235366781475e-05, + "observation_loss": 1.0606801879475825e-05, + "chamfer": 7.92668743088143e-06, + "track": 2.6801142212207196e-06, + "acceleration": 1.5555215782114828e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.072555642167572e-05, + "observation_loss": 1.062332285073353e-05, + "chamfer": 7.929535968287382e-06, + "track": 2.693787109819823e-06, + "acceleration": 1.0223383384300178e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0885115443670657e-05, + "observation_loss": 1.0612463483994361e-05, + "chamfer": 7.920436473796144e-06, + "track": 2.6920267828245414e-06, + "acceleration": 2.726520165197144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.082292237697402e-05, + "observation_loss": 1.0678360922611319e-05, + "chamfer": 7.95802588982042e-06, + "track": 2.7203350327908993e-06, + "acceleration": 1.445613264650092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0863691386475693e-05, + "observation_loss": 1.075454565580003e-05, + "chamfer": 7.993242434167769e-06, + "track": 2.76130276688491e-06, + "acceleration": 1.0914533277173177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.090546265913872e-05, + "observation_loss": 1.0816434041771572e-05, + "chamfer": 8.032499863475095e-06, + "track": 2.783934405670152e-06, + "acceleration": 8.90287523702682e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0975086297548842e-05, + "observation_loss": 1.089617217076011e-05, + "chamfer": 8.077878192125354e-06, + "track": 2.8182937512610806e-06, + "acceleration": 7.891383546621e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0961643056361936e-05, + "observation_loss": 1.0853495950868819e-05, + "chamfer": 8.054557838477194e-06, + "track": 2.798937885017949e-06, + "acceleration": 1.0814702733341619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.080274614650989e-05, + "observation_loss": 1.070803773473017e-05, + "chamfer": 7.96275617176434e-06, + "track": 2.7452817903395044e-06, + "acceleration": 9.470843309600241e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.300425974994141e-06, + "chamfer_mean": 5.557336907694814e-06, + "track_mean": 1.5020639774950457e-06, + "acceleration_mean": 1.241025053166922e-06, + "observation_score": 7.059400888446514e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4302199439989636 + }, + "score_arrays_file": "pass_scores/pass_end_0346.npz", + "score_arrays_sha256": "182857834bb8f59aff2736f5fe62e56b1fc306a9d9b97c0e58b157bda7f3418d" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0347.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0347.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa18fa30fc183f104aaea7a45f362288590ae0b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0347.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33312, + "completed_passes": 347, + "snapshot": "pass_end_0347", + "candidate": true, + "snapshot_arrays_sha256": "420792b5c8b8be8483cf998413d0c827c2481a79447f928a10128871f787191d", + "score": 7.052564453620865e-06, + "score_result": { + "score": 7.052564453620865e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8759559427271597e-06, + 3.152134013362229e-06, + 3.2250632102659438e-06, + 3.6603362332243705e-06, + 4.18460922446684e-06, + 4.4178118514537346e-06, + 4.172575700067682e-06, + 4.000863100372953e-06, + 3.932041181542445e-06, + 4.016088496427983e-06, + 4.38752249465324e-06, + 4.8359070206061006e-06, + 5.137492735229898e-06, + 5.33391767021385e-06, + 5.327031885826727e-06, + 5.218549176788656e-06, + 4.8637484724167734e-06, + 4.4756088755093515e-06, + 4.306944447307615e-06, + 4.311719749239273e-06, + 4.269302280590637e-06, + 4.110966074222233e-06, + 4.001250545115909e-06, + 4.0239333429781254e-06, + 4.105519110453315e-06, + 4.341169187682681e-06, + 4.715393515652977e-06, + 4.884954705630662e-06, + 4.833561433770228e-06, + 4.822105438506696e-06, + 5.0549742809380405e-06, + 5.348756985767977e-06, + 5.714354301744606e-06, + 5.982821676298045e-06, + 6.042735549272038e-06, + 6.01643023401266e-06, + 6.139468951005256e-06, + 6.316008239082294e-06, + 6.065819889045088e-06, + 5.646326826536097e-06, + 5.48464413441252e-06, + 5.680161393684102e-06, + 5.874571343156276e-06, + 6.0633851717284415e-06, + 6.145497081888607e-06, + 6.2193521443987265e-06, + 6.355013283609878e-06, + 6.826525350334123e-06, + 7.421677764796186e-06, + 7.75201988290064e-06, + 7.608362921018852e-06, + 7.399505648209015e-06, + 7.212216132757021e-06, + 7.039042884571245e-06, + 7.031103450572118e-06, + 7.0748924372310285e-06, + 7.1505205596622545e-06, + 7.233544693008298e-06, + 7.3166174843208864e-06, + 7.466294846381061e-06, + 7.627690592926228e-06, + 7.808550435584038e-06, + 8.188213541870937e-06, + 8.707078450242989e-06, + 9.312541806139052e-06, + 9.652560038375668e-06, + 9.881614460027777e-06, + 1.0119338185177185e-05, + 1.0240466508548707e-05, + 1.0126427696377505e-05, + 9.8318150776322e-06, + 9.679044524091296e-06, + 9.524978850095067e-06, + 9.273850082536228e-06, + 9.04569333215477e-06, + 9.12938776309602e-06, + 9.319239325122908e-06, + 9.352269444207195e-06, + 9.354153917229269e-06, + 9.38573975872714e-06, + 9.523961125523783e-06, + 9.673756721895188e-06, + 9.868547749647405e-06, + 1.0154523806704674e-05, + 1.03618367575109e-05, + 1.0443274732097052e-05, + 1.0506882972549647e-05, + 1.05830895336112e-05, + 1.0599953384371474e-05, + 1.0589243174763396e-05, + 1.0653351637301967e-05, + 1.0728889719757717e-05, + 1.0791138265631162e-05, + 1.0870535334106535e-05, + 1.0827439837157726e-05, + 1.0682386346161366e-05 + ] + ], + "episode_mean_losses": [ + 7.052564453620865e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8759559427271597e-06, + "observation_loss": 2.8759559427271597e-06, + "chamfer": 2.4391586066485615e-06, + "track": 4.36797392922017e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.163778794463724e-05, + "observation_loss": 3.152134013362229e-06, + "chamfer": 2.665750116648269e-06, + "track": 4.863837830271223e-07, + "acceleration": 3.848565393127501e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.300915184605401e-05, + "observation_loss": 3.2250632102659438e-06, + "chamfer": 2.7313219561619917e-06, + "track": 4.937412541039521e-07, + "acceleration": 1.9784089090535417e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0046394891105592e-05, + "observation_loss": 3.6603362332243705e-06, + "chamfer": 3.08732091980346e-06, + "track": 5.730153702643292e-07, + "acceleration": 6.386058885254897e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.683169547410216e-06, + "observation_loss": 4.18460922446684e-06, + "chamfer": 3.509893303998979e-06, + "track": 6.747158067810233e-07, + "acceleration": 1.4985605503170518e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.500825409399113e-06, + "observation_loss": 4.4178118514537346e-06, + "chamfer": 3.6956694202672224e-06, + "track": 7.221423174996744e-07, + "acceleration": 1.0830135579453781e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.787932994076982e-06, + "observation_loss": 4.172575700067682e-06, + "chamfer": 3.4951733596244594e-06, + "track": 6.774022835998039e-07, + "acceleration": 6.153571234790434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.612044449459063e-06, + "observation_loss": 4.000863100372953e-06, + "chamfer": 3.3570288451301167e-06, + "track": 6.438343120862555e-07, + "acceleration": 6.111814627729473e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.417069703777088e-06, + "observation_loss": 3.932041181542445e-06, + "chamfer": 3.3043668281607097e-06, + "track": 6.276744102251541e-07, + "acceleration": 4.850283517043863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.320861535234144e-06, + "observation_loss": 4.016088496427983e-06, + "chamfer": 3.373894514879794e-06, + "track": 6.421942089218646e-07, + "acceleration": 3.047730103844515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.532204911811277e-06, + "observation_loss": 4.38752249465324e-06, + "chamfer": 3.6771120903722476e-06, + "track": 7.104103474375734e-07, + "acceleration": 1.446825734774393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.927227109874366e-06, + "observation_loss": 4.8359070206061006e-06, + "chamfer": 4.037507551402086e-06, + "track": 7.983994692040142e-07, + "acceleration": 9.131989742172664e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.239754500507843e-06, + "observation_loss": 5.137492735229898e-06, + "chamfer": 4.2857527660089545e-06, + "track": 8.517397986906872e-07, + "acceleration": 1.0226185764850015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.440972927317489e-06, + "observation_loss": 5.33391767021385e-06, + "chamfer": 4.4533671825774945e-06, + "track": 8.805504876363557e-07, + "acceleration": 1.0705508657338214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.388008958107093e-06, + "observation_loss": 5.327031885826727e-06, + "chamfer": 4.4517810238176025e-06, + "track": 8.752506914788682e-07, + "acceleration": 6.097687332839996e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.341587893781252e-06, + "observation_loss": 5.218549176788656e-06, + "chamfer": 4.363048901723232e-06, + "track": 8.555002182220051e-07, + "acceleration": 1.23038574884049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.065798632131191e-06, + "observation_loss": 4.8637484724167734e-06, + "chamfer": 4.071743660460925e-06, + "track": 7.920047551124298e-07, + "acceleration": 2.020501312927081e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.8053025238914415e-06, + "observation_loss": 4.4756088755093515e-06, + "chamfer": 3.7508127661567414e-06, + "track": 7.247960525091912e-07, + "acceleration": 3.2969356311696174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.485227236727951e-06, + "observation_loss": 4.306944447307615e-06, + "chamfer": 3.607414782891283e-06, + "track": 6.995297212597507e-07, + "acceleration": 1.7828263310093462e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.455820544535527e-06, + "observation_loss": 4.311719749239273e-06, + "chamfer": 3.6072826787858503e-06, + "track": 7.044368999231665e-07, + "acceleration": 1.4410059634428762e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.572193574858829e-06, + "observation_loss": 4.269302280590637e-06, + "chamfer": 3.570747821868281e-06, + "track": 6.985544587223558e-07, + "acceleration": 3.028914647984493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.486698344408069e-06, + "observation_loss": 4.110966074222233e-06, + "chamfer": 3.4414326819387497e-06, + "track": 6.695336196571589e-07, + "acceleration": 3.7573246913780167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.713192993222037e-06, + "observation_loss": 4.001250545115909e-06, + "chamfer": 3.35544791596476e-06, + "track": 6.458024586208921e-07, + "acceleration": 7.119426186363853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.98791587233427e-06, + "observation_loss": 4.0239333429781254e-06, + "chamfer": 3.369546448084293e-06, + "track": 6.543870654240891e-07, + "acceleration": 9.63982643042982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.746431841340382e-06, + "observation_loss": 4.105519110453315e-06, + "chamfer": 3.4197362310806056e-06, + "track": 6.857828793727094e-07, + "acceleration": 6.409127308870666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.648509730031947e-06, + "observation_loss": 4.341169187682681e-06, + "chamfer": 3.5959417346020928e-06, + "track": 7.45227453080588e-07, + "acceleration": 3.0734071287952247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.9566674533707555e-06, + "observation_loss": 4.715393515652977e-06, + "chamfer": 3.881265001837164e-06, + "track": 8.341285138158128e-07, + "acceleration": 2.4127379560923146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.158999101695372e-06, + "observation_loss": 4.884954705630662e-06, + "chamfer": 4.010984866908984e-06, + "track": 8.739699524085154e-07, + "acceleration": 2.740444244864193e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.358774160413304e-06, + "observation_loss": 4.833561433770228e-06, + "chamfer": 3.969910267187515e-06, + "track": 8.636513371129695e-07, + "acceleration": 5.252126129562384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2856366892228834e-06, + "observation_loss": 4.822105438506696e-06, + "chamfer": 3.9705419112578966e-06, + "track": 8.515636977790564e-07, + "acceleration": 4.635314780898625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.379225513024721e-06, + "observation_loss": 5.0549742809380405e-06, + "chamfer": 4.164742676948663e-06, + "track": 8.902315471459588e-07, + "acceleration": 3.2425145946035627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.651098035741597e-06, + "observation_loss": 5.348756985767977e-06, + "chamfer": 4.395944870339008e-06, + "track": 9.528122859592258e-07, + "acceleration": 3.023409362867824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.82642405788647e-06, + "observation_loss": 5.714354301744606e-06, + "chamfer": 4.690395599027397e-06, + "track": 1.0239584753435338e-06, + "acceleration": 1.120696495604534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.196723461471265e-06, + "observation_loss": 5.982821676298045e-06, + "chamfer": 4.895483471045736e-06, + "track": 1.0873380915654707e-06, + "acceleration": 2.139017283298017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.35347532806918e-06, + "observation_loss": 6.042735549272038e-06, + "chamfer": 4.94711775900214e-06, + "track": 1.0956177902698983e-06, + "acceleration": 3.1073972195372335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.650283467024565e-06, + "observation_loss": 6.01643023401266e-06, + "chamfer": 4.917375918012112e-06, + "track": 1.0990542023137095e-06, + "acceleration": 6.338531193250674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.936223482829519e-06, + "observation_loss": 6.139468951005256e-06, + "chamfer": 4.991262812836794e-06, + "track": 1.1482061381684616e-06, + "acceleration": 1.7967547591979383e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.884844646672718e-06, + "observation_loss": 6.316008239082294e-06, + "chamfer": 5.121503363625379e-06, + "track": 1.1945048754569143e-06, + "acceleration": 2.5688364075904246e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.99612644186709e-06, + "observation_loss": 6.065819889045088e-06, + "chamfer": 4.940114649798488e-06, + "track": 1.1257052392465994e-06, + "acceleration": 1.9303060980746523e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 8.022800102480687e-06, + "observation_loss": 5.646326826536097e-06, + "chamfer": 4.6119739636196755e-06, + "track": 1.0343530902900966e-06, + "acceleration": 2.3764728211972397e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 8.120257916743867e-06, + "observation_loss": 5.48464413441252e-06, + "chamfer": 4.483205884753261e-06, + "track": 1.0014384770329343e-06, + "acceleration": 2.6356133275839966e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 7.100341008481337e-06, + "observation_loss": 5.680161393684102e-06, + "chamfer": 4.622228061634814e-06, + "track": 1.0579332183624501e-06, + "acceleration": 1.4201796147972345e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.080382601998281e-06, + "observation_loss": 5.874571343156276e-06, + "chamfer": 4.7528128561680205e-06, + "track": 1.1217586006750935e-06, + "acceleration": 1.2058111451551667e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 8.183445061149541e-06, + "observation_loss": 6.0633851717284415e-06, + "chamfer": 4.889809133601375e-06, + "track": 1.1735761518139043e-06, + "acceleration": 2.1200598894211e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.32644821255235e-06, + "observation_loss": 6.145497081888607e-06, + "chamfer": 4.950946731696604e-06, + "track": 1.1945504638788407e-06, + "acceleration": 1.1809513580374187e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.7595292421174236e-06, + "observation_loss": 6.2193521443987265e-06, + "chamfer": 5.004885224479949e-06, + "track": 1.2144669199187774e-06, + "acceleration": 5.401773250923725e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.735568604199216e-06, + "observation_loss": 6.355013283609878e-06, + "chamfer": 5.112581220600987e-06, + "track": 1.242431835635216e-06, + "acceleration": 3.805555195413035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.234072654682677e-06, + "observation_loss": 6.826525350334123e-06, + "chamfer": 5.4686556723027024e-06, + "track": 1.3578694506577449e-06, + "acceleration": 4.075474180353922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.919856216176413e-06, + "observation_loss": 7.421677764796186e-06, + "chamfer": 5.8897785493172705e-06, + "track": 1.5318993291657534e-06, + "acceleration": 4.981785082236456e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.09290668257745e-06, + "observation_loss": 7.75201988290064e-06, + "chamfer": 6.130487690825248e-06, + "track": 1.6215321920753922e-06, + "acceleration": 3.408871123156132e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.142003935063258e-06, + "observation_loss": 7.608362921018852e-06, + "chamfer": 6.035068508936092e-06, + "track": 1.573294298395922e-06, + "acceleration": 5.336408435141493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.840481885068584e-06, + "observation_loss": 7.399505648209015e-06, + "chamfer": 5.890226020710543e-06, + "track": 1.5092795138116344e-06, + "acceleration": 4.4097652107666363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.340095180552453e-06, + "observation_loss": 7.212216132757021e-06, + "chamfer": 5.747907380282413e-06, + "track": 1.4643086387877702e-06, + "acceleration": 1.278791614822694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.116068900359096e-06, + "observation_loss": 7.039042884571245e-06, + "chamfer": 5.617273473035311e-06, + "track": 1.4217692978490959e-06, + "acceleration": 7.702605131498785e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.103993084456306e-06, + "observation_loss": 7.031103450572118e-06, + "chamfer": 5.607410002994584e-06, + "track": 1.4236934475775342e-06, + "acceleration": 7.288942072136706e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.177139650593745e-06, + "observation_loss": 7.0748924372310285e-06, + "chamfer": 5.6303260862478055e-06, + "track": 1.4445664646700607e-06, + "acceleration": 1.0224733415498122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.209036994026974e-06, + "observation_loss": 7.1505205596622545e-06, + "chamfer": 5.682632036041468e-06, + "track": 1.4678886373076239e-06, + "acceleration": 5.851636686315942e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.439691216859501e-06, + "observation_loss": 7.233544693008298e-06, + "chamfer": 5.730677003157325e-06, + "track": 1.5028678035378107e-06, + "acceleration": 2.061467085923141e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.857643140596338e-06, + "observation_loss": 7.3166174843208864e-06, + "chamfer": 5.794811841042247e-06, + "track": 1.5218057569654775e-06, + "acceleration": 5.410255425886135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.593042366555892e-06, + "observation_loss": 7.466294846381061e-06, + "chamfer": 5.894654805160826e-06, + "track": 1.5716402685939102e-06, + "acceleration": 1.1267477475485066e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.259509170078672e-06, + "observation_loss": 7.627690592926228e-06, + "chamfer": 6.020457021804759e-06, + "track": 1.6072334574346314e-06, + "acceleration": 1.6318189182129572e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.787883416516706e-06, + "observation_loss": 7.808550435584038e-06, + "chamfer": 6.160077191452729e-06, + "track": 1.648473585191823e-06, + "acceleration": 9.793334356800187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.604863069194835e-06, + "observation_loss": 8.188213541870937e-06, + "chamfer": 6.434690476453397e-06, + "track": 1.753523179104377e-06, + "acceleration": 4.166494989021885e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.015502655529417e-06, + "observation_loss": 8.707078450242989e-06, + "chamfer": 6.788791324652266e-06, + "track": 1.918287580338074e-06, + "acceleration": 3.084238926476246e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.437410881218966e-06, + "observation_loss": 9.312541806139052e-06, + "chamfer": 7.20130947229336e-06, + "track": 2.1112327885930426e-06, + "acceleration": 1.2486933087529906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.753143785928842e-06, + "observation_loss": 9.652560038375668e-06, + "chamfer": 7.433045993820997e-06, + "track": 2.2195140445546713e-06, + "acceleration": 1.0058371913146402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0179994205827825e-05, + "observation_loss": 9.881614460027777e-06, + "chamfer": 7.591444955323823e-06, + "track": 2.2901692773302784e-06, + "acceleration": 2.9837960369150096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0305963769496884e-05, + "observation_loss": 1.0119338185177185e-05, + "chamfer": 7.73387000663206e-06, + "track": 2.3854684059188003e-06, + "acceleration": 1.8662579748252028e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0367690265411511e-05, + "observation_loss": 1.0240466508548707e-05, + "chamfer": 7.806474968674593e-06, + "track": 2.4339917672477895e-06, + "acceleration": 1.2722362896511186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0480262972123455e-05, + "observation_loss": 1.0126427696377505e-05, + "chamfer": 7.72788371250499e-06, + "track": 2.3985442112461897e-06, + "acceleration": 3.538352189025318e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0733356248238124e-05, + "observation_loss": 9.8318150776322e-06, + "chamfer": 7.546873348474037e-06, + "track": 2.284941729158163e-06, + "acceleration": 9.015410569190863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0245502380712423e-05, + "observation_loss": 9.679044524091296e-06, + "chamfer": 7.4388917710166425e-06, + "track": 2.2401527530746534e-06, + "acceleration": 5.664576292474521e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.748214324645232e-06, + "observation_loss": 9.524978850095067e-06, + "chamfer": 7.328815172513714e-06, + "track": 2.196163677581353e-06, + "acceleration": 2.232357303455501e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.51336642174283e-06, + "observation_loss": 9.273850082536228e-06, + "chamfer": 7.144147275539581e-06, + "track": 2.1297030343703227e-06, + "acceleration": 2.3951656658027787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.612801477487665e-06, + "observation_loss": 9.04569333215477e-06, + "chamfer": 6.9865909608779475e-06, + "track": 2.059102371276822e-06, + "acceleration": 5.671081453328952e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2471387890400365e-05, + "observation_loss": 9.12938776309602e-06, + "chamfer": 7.0210767262324225e-06, + "track": 2.108311036863597e-06, + "acceleration": 3.342000354678021e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1814184290415142e-05, + "observation_loss": 9.319239325122908e-06, + "chamfer": 7.137716238503344e-06, + "track": 2.181522859245888e-06, + "acceleration": 2.4949447379185585e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.135925322159892e-05, + "observation_loss": 9.352269444207195e-06, + "chamfer": 7.174473466875497e-06, + "track": 2.1777962047053734e-06, + "acceleration": 2.0069840047653997e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0976338671753183e-05, + "observation_loss": 9.354153917229269e-06, + "chamfer": 7.151699264795752e-06, + "track": 2.2024546524335165e-06, + "acceleration": 1.622184868210752e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0515302165003959e-05, + "observation_loss": 9.38573975872714e-06, + "chamfer": 7.166158866311889e-06, + "track": 2.2195808924152516e-06, + "acceleration": 1.1295626336504938e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0314880455553066e-05, + "observation_loss": 9.523961125523783e-06, + "chamfer": 7.24961273590452e-06, + "track": 2.274347934871912e-06, + "acceleration": 7.909195005595393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0149393347091973e-05, + "observation_loss": 9.673756721895188e-06, + "chamfer": 7.322187229874544e-06, + "track": 2.351569264646969e-06, + "acceleration": 4.756362272928527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 1.0001077498600353e-05, + "observation_loss": 9.868547749647405e-06, + "chamfer": 7.448444648616714e-06, + "track": 2.4201031010306906e-06, + "acceleration": 1.3252953579012683e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0229275176243391e-05, + "observation_loss": 1.0154523806704674e-05, + "chamfer": 7.647557140444405e-06, + "track": 2.5069666662602685e-06, + "acceleration": 7.475172481008485e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0469281733094249e-05, + "observation_loss": 1.03618367575109e-05, + "chamfer": 7.788787115714513e-06, + "track": 2.5730496417963877e-06, + "acceleration": 1.074446274174079e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0554014806984924e-05, + "observation_loss": 1.0443274732097052e-05, + "chamfer": 7.831501534383278e-06, + "track": 2.6117731977137737e-06, + "acceleration": 1.107403164724019e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0661485248419922e-05, + "observation_loss": 1.0506882972549647e-05, + "chamfer": 7.87211047281744e-06, + "track": 2.634772272358532e-06, + "acceleration": 1.546025885090785e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0738223863882013e-05, + "observation_loss": 1.05830895336112e-05, + "chamfer": 7.910908607300371e-06, + "track": 2.6721811536845053e-06, + "acceleration": 1.5513396078858932e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0701145583880134e-05, + "observation_loss": 1.0599953384371474e-05, + "chamfer": 7.914100024208892e-06, + "track": 2.6858535875362577e-06, + "acceleration": 1.0119180160472752e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0860414477065206e-05, + "observation_loss": 1.0589243174763396e-05, + "chamfer": 7.905156962806359e-06, + "track": 2.6840866667043883e-06, + "acceleration": 2.711714159886469e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0796889910125174e-05, + "observation_loss": 1.0653351637301967e-05, + "chamfer": 7.941500371089205e-06, + "track": 2.7118517209601123e-06, + "acceleration": 1.4353871335970325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.083816823665984e-05, + "observation_loss": 1.0728889719757717e-05, + "chamfer": 7.976324013725389e-06, + "track": 2.7525657060323283e-06, + "acceleration": 1.0927877269750752e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0879847650357988e-05, + "observation_loss": 1.0791138265631162e-05, + "chamfer": 8.015861567400862e-06, + "track": 2.7752762434829492e-06, + "acceleration": 8.870976131447605e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.094912840926554e-05, + "observation_loss": 1.0870535334106535e-05, + "chamfer": 8.061206244747154e-06, + "track": 2.8093286346120294e-06, + "acceleration": 7.859344464122842e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0935586942650843e-05, + "observation_loss": 1.0827439837157726e-05, + "chamfer": 8.037402039917652e-06, + "track": 2.79003802461375e-06, + "acceleration": 1.0814751050247651e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0777206625789404e-05, + "observation_loss": 1.0682386346161366e-05, + "chamfer": 7.945965080580208e-06, + "track": 2.7364210382074816e-06, + "acceleration": 9.48199954109441e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.310367704211785e-06, + "chamfer_mean": 5.552357952372707e-06, + "track_mean": 1.5002065196038454e-06, + "acceleration_mean": 1.2578032811220534e-06, + "observation_score": 7.052564453620865e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.415577336001661 + }, + "score_arrays_file": "pass_scores/pass_end_0347.npz", + "score_arrays_sha256": "eb5d553283855e6c9017ca846bea4fc8c7f747dec6764342453fd653c3af00c3" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0348.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0348.json new file mode 100644 index 0000000000000000000000000000000000000000..abc7e64f71e50f45cb8340aa4a6fa71303d3fcef --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0348.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33408, + "completed_passes": 348, + "snapshot": "pass_end_0348", + "candidate": true, + "snapshot_arrays_sha256": "6b0ab2a87427501e3208014e35dd79b2278de9b8ed217d3b225aad720cf42296", + "score": 7.047474866794801e-06, + "score_result": { + "score": 7.047474866794801e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8762640340573853e-06, + 3.151988948957296e-06, + 3.22402252095344e-06, + 3.6592282413039356e-06, + 4.183621967968065e-06, + 4.417581294546835e-06, + 4.172540684521664e-06, + 3.999954060418531e-06, + 3.930524144379888e-06, + 4.0139116208592895e-06, + 4.384929070511134e-06, + 4.832737431570422e-06, + 5.133990271133371e-06, + 5.329579835233744e-06, + 5.3223534450808074e-06, + 5.213691565586487e-06, + 4.859404725721106e-06, + 4.470879503060132e-06, + 4.30294085163041e-06, + 4.308543338993331e-06, + 4.2662068153731525e-06, + 4.1061944102693815e-06, + 3.994118742411956e-06, + 4.0182494558393955e-06, + 4.103277206013445e-06, + 4.340892246545991e-06, + 4.7132202780630905e-06, + 4.8791366680234205e-06, + 4.8270831030095e-06, + 4.817543867829954e-06, + 5.053419044998009e-06, + 5.350048468244495e-06, + 5.720930857933126e-06, + 5.990289992041653e-06, + 6.0501715779537335e-06, + 6.021645276632626e-06, + 6.139689503470436e-06, + 6.317040060821455e-06, + 6.066715286578983e-06, + 5.646764293487649e-06, + 5.481709649757249e-06, + 5.675675311067607e-06, + 5.87061276746681e-06, + 6.055749054212356e-06, + 6.138426215329673e-06, + 6.214492259459803e-06, + 6.350132025545463e-06, + 6.822899194958154e-06, + 7.413823368551675e-06, + 7.741595254628919e-06, + 7.5977704909746535e-06, + 7.389588972728234e-06, + 7.203526365628932e-06, + 7.0320952545444015e-06, + 7.024882961559342e-06, + 7.07015306034009e-06, + 7.1468075475422665e-06, + 7.229899892990943e-06, + 7.313271908060415e-06, + 7.463682777597569e-06, + 7.625447778991656e-06, + 7.807633664924651e-06, + 8.187732419173699e-06, + 8.707758752279915e-06, + 9.314340786659159e-06, + 9.65535127761541e-06, + 9.884442079055589e-06, + 1.0123416359419934e-05, + 1.0244820259686094e-05, + 1.0130575901712291e-05, + 9.834534466790501e-06, + 9.679414688434917e-06, + 9.523011613055132e-06, + 9.268954272556584e-06, + 9.036791198013816e-06, + 9.123134077526629e-06, + 9.310367204307113e-06, + 9.343239071313292e-06, + 9.342549674329348e-06, + 9.371571650262922e-06, + 9.509347364655696e-06, + 9.660079740569927e-06, + 9.854500603978522e-06, + 1.0138842299056705e-05, + 1.0346232556912582e-05, + 1.0427446795802098e-05, + 1.0490564818610437e-05, + 1.0566029231995344e-05, + 1.0583107723505236e-05, + 1.0572751307336148e-05, + 1.0635325452312827e-05, + 1.071091628546128e-05, + 1.0773369467642624e-05, + 1.0852532795979641e-05, + 1.080881520465482e-05, + 1.0664519322745036e-05 + ] + ], + "episode_mean_losses": [ + 7.047474866794801e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8762640340573853e-06, + "observation_loss": 2.8762640340573853e-06, + "chamfer": 2.439403942844365e-06, + "track": 4.368601764781488e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.164591518929228e-05, + "observation_loss": 3.151988948957296e-06, + "chamfer": 2.6656232421373716e-06, + "track": 4.863657068199245e-07, + "acceleration": 3.849392669508234e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3005326511338353e-05, + "observation_loss": 3.22402252095344e-06, + "chamfer": 2.730454070842825e-06, + "track": 4.935683932671964e-07, + "acceleration": 1.978130421775859e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.004592195386067e-05, + "observation_loss": 3.6592282413039356e-06, + "chamfer": 3.0863895972288447e-06, + "track": 5.728387009185099e-07, + "acceleration": 6.386693257809384e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.682106348103844e-06, + "observation_loss": 4.183621967968065e-06, + "chamfer": 3.509052703520865e-06, + "track": 6.745690939169435e-07, + "acceleration": 1.4984843801357783e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.501071882463293e-06, + "observation_loss": 4.417581294546835e-06, + "chamfer": 3.6954370443709195e-06, + "track": 7.221440796456591e-07, + "acceleration": 1.0834907016032957e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.787143552675843e-06, + "observation_loss": 4.172540684521664e-06, + "chamfer": 3.4950789995491505e-06, + "track": 6.774616849725135e-07, + "acceleration": 6.14602981841017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.61420268038637e-06, + "observation_loss": 3.999954060418531e-06, + "chamfer": 3.356203706061933e-06, + "track": 6.437502975131792e-07, + "acceleration": 6.142487336546765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.416549472807674e-06, + "observation_loss": 3.930524144379888e-06, + "chamfer": 3.303039420643472e-06, + "track": 6.274848942666722e-07, + "acceleration": 4.860253852712049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.319366325944429e-06, + "observation_loss": 4.0139116208592895e-06, + "chamfer": 3.3720450574037386e-06, + "track": 6.418664497687132e-07, + "acceleration": 3.054548471936869e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.530289970716694e-06, + "observation_loss": 4.384929070511134e-06, + "chamfer": 3.674957724797423e-06, + "track": 7.099714594005491e-07, + "acceleration": 1.4536081494043174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.924103905068478e-06, + "observation_loss": 4.832737431570422e-06, + "chamfer": 4.0348982111027e-06, + "track": 7.978391636243032e-07, + "acceleration": 9.136648060348307e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.236715878709219e-06, + "observation_loss": 5.133990271133371e-06, + "chamfer": 4.282876489014598e-06, + "track": 8.511136684319354e-07, + "acceleration": 1.0272572836811378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.436662831925787e-06, + "observation_loss": 5.329579835233744e-06, + "chamfer": 4.449806056072703e-06, + "track": 8.797738928478793e-07, + "acceleration": 1.0708282616178622e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.383659299695864e-06, + "observation_loss": 5.3223534450808074e-06, + "chamfer": 4.4479443204181734e-06, + "track": 8.744090678192151e-07, + "acceleration": 6.13059540910399e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.3372532420326024e-06, + "observation_loss": 5.213691565586487e-06, + "chamfer": 4.359068043413572e-06, + "track": 8.54623465329496e-07, + "acceleration": 1.2356188960893633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.061712727183476e-06, + "observation_loss": 4.859404725721106e-06, + "chamfer": 4.068177531735273e-06, + "track": 7.912273645160894e-07, + "acceleration": 2.023081435709173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.80202379549155e-06, + "observation_loss": 4.470879503060132e-06, + "chamfer": 3.746888751265942e-06, + "track": 7.23990808637609e-07, + "acceleration": 3.311444061182556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.482332769839559e-06, + "observation_loss": 4.30294085163041e-06, + "chamfer": 3.6040539725945564e-06, + "track": 6.988868790358538e-07, + "acceleration": 1.7939183294402028e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.450868345884373e-06, + "observation_loss": 4.308543338993331e-06, + "chamfer": 3.6046076274942607e-06, + "track": 7.039358251859085e-07, + "acceleration": 1.4232489320420427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.56980842500343e-06, + "observation_loss": 4.2662068153731525e-06, + "chamfer": 3.5681246117746923e-06, + "track": 6.980819762247847e-07, + "acceleration": 3.036016380519868e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.484474629862234e-06, + "observation_loss": 4.1061944102693815e-06, + "chamfer": 3.4374554616078967e-06, + "track": 6.687388918180659e-07, + "acceleration": 3.7828024801456195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.700917088484857e-06, + "observation_loss": 3.994118742411956e-06, + "chamfer": 3.3494370654807426e-06, + "track": 6.446815632443759e-07, + "acceleration": 7.067981755426445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.977149274054682e-06, + "observation_loss": 4.0182494558393955e-06, + "chamfer": 3.3646974770817906e-06, + "track": 6.535521492878615e-07, + "acceleration": 9.588998182152864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.729064130515326e-06, + "observation_loss": 4.103277206013445e-06, + "chamfer": 3.417726020416012e-06, + "track": 6.855511855974328e-07, + "acceleration": 6.257870381887187e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.6471805035253055e-06, + "observation_loss": 4.340892246545991e-06, + "chamfer": 3.595499038056005e-06, + "track": 7.45393265333405e-07, + "acceleration": 3.062880580273486e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.965394055034267e-06, + "observation_loss": 4.7132202780630905e-06, + "chamfer": 3.879455562127987e-06, + "track": 8.33764545404847e-07, + "acceleration": 2.521739190797234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.171041721041547e-06, + "observation_loss": 4.8791366680234205e-06, + "chamfer": 4.006536983069964e-06, + "track": 8.725995144232002e-07, + "acceleration": 2.9190516670496436e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.365139259083662e-06, + "observation_loss": 4.8270831030095e-06, + "chamfer": 3.964609277318232e-06, + "track": 8.624740530649433e-07, + "acceleration": 5.380560423873249e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2785230764129665e-06, + "observation_loss": 4.817543867829954e-06, + "chamfer": 3.9666851989750285e-06, + "track": 8.508587825417635e-07, + "acceleration": 4.609792654264311e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.376329681894276e-06, + "observation_loss": 5.053419044998009e-06, + "chamfer": 4.163232006249018e-06, + "track": 8.901872092792473e-07, + "acceleration": 3.2291046636601095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.650661933032097e-06, + "observation_loss": 5.350048468244495e-06, + "chamfer": 4.396498752612388e-06, + "track": 9.535498293189448e-07, + "acceleration": 3.0061349320931186e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.842298378411215e-06, + "observation_loss": 5.720930857933126e-06, + "chamfer": 4.695310053648427e-06, + "track": 1.0256208042846993e-06, + "acceleration": 1.2136730731526768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.220049726834986e-06, + "observation_loss": 5.990289992041653e-06, + "chamfer": 4.900896783510689e-06, + "track": 1.089393322217802e-06, + "acceleration": 2.297598058476069e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.367619789671153e-06, + "observation_loss": 6.0501715779537335e-06, + "chamfer": 4.9529066927789245e-06, + "track": 1.0972646578011336e-06, + "acceleration": 3.174480980305816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.77195203024894e-06, + "observation_loss": 6.021645276632626e-06, + "chamfer": 4.9216491788683925e-06, + "track": 1.0999962114510708e-06, + "acceleration": 7.503066967728955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.234565939346794e-06, + "observation_loss": 6.139689503470436e-06, + "chamfer": 4.991909008822404e-06, + "track": 1.1477804946480319e-06, + "acceleration": 2.0948764358763583e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 9.097395377466455e-06, + "observation_loss": 6.317040060821455e-06, + "chamfer": 5.12260157847777e-06, + "track": 1.1944385960305226e-06, + "acceleration": 2.780355316645e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.150655048666522e-06, + "observation_loss": 6.066715286578983e-06, + "chamfer": 4.9408226914238185e-06, + "track": 1.1258924814683269e-06, + "acceleration": 2.0839395347138634e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 8.163574420905206e-06, + "observation_loss": 5.646764293487649e-06, + "chamfer": 4.612174961948767e-06, + "track": 1.0345891041652067e-06, + "acceleration": 2.5168099000438815e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 8.324789632752072e-06, + "observation_loss": 5.481709649757249e-06, + "chamfer": 4.480724328459473e-06, + "track": 1.0009852076109382e-06, + "acceleration": 2.8430799829948228e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 7.343975084950216e-06, + "observation_loss": 5.675675311067607e-06, + "chamfer": 4.618745151674375e-06, + "track": 1.0569299320195569e-06, + "acceleration": 1.6683000012562843e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.035033377178479e-06, + "observation_loss": 5.87061276746681e-06, + "chamfer": 4.749445452034706e-06, + "track": 1.1211675428057788e-06, + "acceleration": 1.1644206097116694e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 8.220980816986412e-06, + "observation_loss": 6.055749054212356e-06, + "chamfer": 4.88372779727797e-06, + "track": 1.172021143247548e-06, + "acceleration": 2.1652322175214067e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.645396181032993e-06, + "observation_loss": 6.138426215329673e-06, + "chamfer": 4.945574801240582e-06, + "track": 1.1928515277759288e-06, + "acceleration": 1.5069697383296443e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.766295427951263e-06, + "observation_loss": 6.214492259459803e-06, + "chamfer": 5.001184035791084e-06, + "track": 1.2133082236687187e-06, + "acceleration": 5.518031684914604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.745804512320319e-06, + "observation_loss": 6.350132025545463e-06, + "chamfer": 5.1088431973767e-06, + "track": 1.2412887144819251e-06, + "acceleration": 3.956725720399845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.2301854743273e-06, + "observation_loss": 6.822899194958154e-06, + "chamfer": 5.46578667126596e-06, + "track": 1.357112637379032e-06, + "acceleration": 4.0728619410401734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.967614692461211e-06, + "observation_loss": 7.413823368551675e-06, + "chamfer": 5.883779067517025e-06, + "track": 1.5300445284083253e-06, + "acceleration": 5.53790926005604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.104781045403797e-06, + "observation_loss": 7.741595254628919e-06, + "chamfer": 6.12293752055848e-06, + "track": 1.6186573930099257e-06, + "acceleration": 3.6318562024462153e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.194185284082778e-06, + "observation_loss": 7.5977704909746535e-06, + "chamfer": 6.0275538089626934e-06, + "track": 1.57021668201196e-06, + "acceleration": 5.964147362647054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.859786819608416e-06, + "observation_loss": 7.389588972728234e-06, + "chamfer": 5.883050107513554e-06, + "track": 1.5065390925883548e-06, + "acceleration": 4.7019750581966946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.368863407464232e-06, + "observation_loss": 7.203526365628932e-06, + "chamfer": 5.741424502048176e-06, + "track": 1.4621020909544313e-06, + "acceleration": 1.6533705604615534e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.105408258212265e-06, + "observation_loss": 7.0320952545444015e-06, + "chamfer": 5.611779215541901e-06, + "track": 1.4203160390025005e-06, + "acceleration": 7.331280471589707e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.101342362147989e-06, + "observation_loss": 7.024882961559342e-06, + "chamfer": 5.602547389571555e-06, + "track": 1.422335685674625e-06, + "acceleration": 7.645930821809088e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.169724085542839e-06, + "observation_loss": 7.07015306034009e-06, + "chamfer": 5.626543952530483e-06, + "track": 1.4436092214964447e-06, + "acceleration": 9.957093283219365e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.206418104033219e-06, + "observation_loss": 7.1468075475422665e-06, + "chamfer": 5.679673904523952e-06, + "track": 1.4671334156446392e-06, + "acceleration": 5.9610513858388e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4425893217267e-06, + "observation_loss": 7.229899892990943e-06, + "chamfer": 5.727838015445741e-06, + "track": 1.5020618775452022e-06, + "acceleration": 2.1268941452490253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.862659913371317e-06, + "observation_loss": 7.313271908060415e-06, + "chamfer": 5.792158390249824e-06, + "track": 1.5211136314974283e-06, + "acceleration": 5.493882895279967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.602888556197286e-06, + "observation_loss": 7.463682777597569e-06, + "chamfer": 5.892647550354013e-06, + "track": 1.5710349998698803e-06, + "acceleration": 1.1392062333470676e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.269222573493607e-06, + "observation_loss": 7.625447778991656e-06, + "chamfer": 6.018638032401213e-06, + "track": 1.6068096329036052e-06, + "acceleration": 1.6437750218756264e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.794460882199928e-06, + "observation_loss": 7.807633664924651e-06, + "chamfer": 6.159330496302573e-06, + "track": 1.6483030549352407e-06, + "acceleration": 9.868274446489522e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.608141797594726e-06, + "observation_loss": 8.187732419173699e-06, + "chamfer": 6.434079296013806e-06, + "track": 1.7536527820993797e-06, + "acceleration": 4.204093784210272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.017900993057992e-06, + "observation_loss": 8.707758752279915e-06, + "chamfer": 6.78900914863334e-06, + "track": 1.9187491488992237e-06, + "acceleration": 3.1014218393465853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.439625500817783e-06, + "observation_loss": 9.314340786659159e-06, + "chamfer": 7.202296728792135e-06, + "track": 2.112044512614375e-06, + "acceleration": 1.2528496995400928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.756438885233365e-06, + "observation_loss": 9.65535127761541e-06, + "chamfer": 7.4347217378090136e-06, + "track": 2.2206295398063958e-06, + "acceleration": 1.010872807682972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0184596249018796e-05, + "observation_loss": 9.884442079055589e-06, + "chamfer": 7.593027476104908e-06, + "track": 2.2914143755770056e-06, + "acceleration": 3.0015431207175425e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0310785000910982e-05, + "observation_loss": 1.0123416359419934e-05, + "chamfer": 7.736436600680463e-06, + "track": 2.3869797587394714e-06, + "acceleration": 1.8736848517164617e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0372315955464728e-05, + "observation_loss": 1.0244820259686094e-05, + "chamfer": 7.809259841451421e-06, + "track": 2.4355604182346724e-06, + "acceleration": 1.2749558209179668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0484868653293233e-05, + "observation_loss": 1.0130575901712291e-05, + "chamfer": 7.730322977295145e-06, + "track": 2.400253151790821e-06, + "acceleration": 3.542924389421387e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0740213838289492e-05, + "observation_loss": 9.834534466790501e-06, + "chamfer": 7.548586836492177e-06, + "track": 2.2859474029246485e-06, + "acceleration": 9.056796557160851e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0255464985675644e-05, + "observation_loss": 9.679414688434917e-06, + "chamfer": 7.439028195221908e-06, + "track": 2.240386493213009e-06, + "acceleration": 5.760502403973078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.751118341227993e-06, + "observation_loss": 9.523011613055132e-06, + "chamfer": 7.327344974328298e-06, + "track": 2.1956661839794833e-06, + "acceleration": 2.281066855402969e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.513911209069192e-06, + "observation_loss": 9.268954272556584e-06, + "chamfer": 7.1404192567570135e-06, + "track": 2.128535015799571e-06, + "acceleration": 2.4495653860867606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.583280188962817e-06, + "observation_loss": 9.036791198013816e-06, + "chamfer": 6.979695626796456e-06, + "track": 2.05709557121736e-06, + "acceleration": 5.464893320095143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2317289474594872e-05, + "observation_loss": 9.123134077526629e-06, + "chamfer": 7.017133157205535e-06, + "track": 2.106000920321094e-06, + "acceleration": 3.194155624441919e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1826131412817631e-05, + "observation_loss": 9.310367204307113e-06, + "chamfer": 7.130920494091697e-06, + "track": 2.179446710215416e-06, + "acceleration": 2.5157644358841935e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1411028026486747e-05, + "observation_loss": 9.343239071313292e-06, + "chamfer": 7.168186584749492e-06, + "track": 2.1750524865638e-06, + "acceleration": 2.067788955173455e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.095752577384701e-05, + "observation_loss": 9.342549674329348e-06, + "chamfer": 7.1433992161473725e-06, + "track": 2.199150685555651e-06, + "acceleration": 1.6149759858308244e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0509226740396116e-05, + "observation_loss": 9.371571650262922e-06, + "chamfer": 7.155774710554397e-06, + "track": 2.2157964849611744e-06, + "acceleration": 1.137655431193707e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0299334462615661e-05, + "observation_loss": 9.509347364655696e-06, + "chamfer": 7.239252227009274e-06, + "track": 2.2700955923937727e-06, + "acceleration": 7.899873821770598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0128920621355064e-05, + "observation_loss": 9.660079740569927e-06, + "chamfer": 7.3127162067976315e-06, + "track": 2.3473630790249445e-06, + "acceleration": 4.688408807851374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.983532436308451e-06, + "observation_loss": 9.854500603978522e-06, + "chamfer": 7.438546163029969e-06, + "track": 2.4159544409485534e-06, + "acceleration": 1.2903224444471562e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0213600035058334e-05, + "observation_loss": 1.0138842299056705e-05, + "chamfer": 7.636652298970148e-06, + "track": 2.502190000086557e-06, + "acceleration": 7.475777863419353e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0452678907313384e-05, + "observation_loss": 1.0346232556912582e-05, + "chamfer": 7.778152394166682e-06, + "track": 2.568079935372225e-06, + "acceleration": 1.0644647119306683e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0536505214986391e-05, + "observation_loss": 1.0427446795802098e-05, + "chamfer": 7.820758582965937e-06, + "track": 2.6066884402098367e-06, + "acceleration": 1.0905830549745588e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0644188478181604e-05, + "observation_loss": 1.0490564818610437e-05, + "chamfer": 7.861052836233284e-06, + "track": 2.629511527629802e-06, + "acceleration": 1.5362360272774822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0719581950979773e-05, + "observation_loss": 1.0566029231995344e-05, + "chamfer": 7.899466254457366e-06, + "track": 2.6665625227906276e-06, + "acceleration": 1.5355307425579667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0681282219593413e-05, + "observation_loss": 1.0583107723505236e-05, + "chamfer": 7.90287504059961e-06, + "track": 2.68023245553195e-06, + "acceleration": 9.817475188356184e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.083920960809337e-05, + "observation_loss": 1.0572751307336148e-05, + "chamfer": 7.89429759606719e-06, + "track": 2.6784537112689577e-06, + "acceleration": 2.66458243913803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0775405826279894e-05, + "observation_loss": 1.0635325452312827e-05, + "chamfer": 7.929528692329768e-06, + "track": 2.7057965326093836e-06, + "acceleration": 1.400800044848438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.081931077351328e-05, + "observation_loss": 1.071091628546128e-05, + "chamfer": 7.96443873696262e-06, + "track": 2.7464775484986603e-06, + "acceleration": 1.0839405462093055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0861758710234426e-05, + "observation_loss": 1.0773369467642624e-05, + "chamfer": 8.00409816292813e-06, + "track": 2.769271077340818e-06, + "acceleration": 8.838899390184451e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0931018550763838e-05, + "observation_loss": 1.0852532795979641e-05, + "chamfer": 8.04938463261351e-06, + "track": 2.803147935992456e-06, + "acceleration": 7.848556293765796e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0916942301264498e-05, + "observation_loss": 1.080881520465482e-05, + "chamfer": 8.02495105745038e-06, + "track": 2.7838639198307646e-06, + "acceleration": 1.0812713924224227e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0759124052128755e-05, + "observation_loss": 1.0664519322745036e-05, + "chamfer": 7.934188943181653e-06, + "track": 2.730330606937059e-06, + "acceleration": 9.460435279606827e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.325707793706746e-06, + "chamfer_mean": 5.548626781148869e-06, + "track_mean": 1.4988480515990925e-06, + "acceleration_mean": 1.278232929650495e-06, + "observation_score": 7.047474866794801e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4315059119999205 + }, + "score_arrays_file": "pass_scores/pass_end_0348.npz", + "score_arrays_sha256": "6c966dc778ed3f6517f93d7fee738e34e9fbf5477aa93ad5228c41f1347aab56" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0349.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0349.json new file mode 100644 index 0000000000000000000000000000000000000000..7ec0264f602ea1d7b3f1d19bfb31a26c2a3e9f0e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0349.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33504, + "completed_passes": 349, + "snapshot": "pass_end_0349", + "candidate": true, + "snapshot_arrays_sha256": "874dff30132d93f993a625340e2e117465340f9a3ff3b827d5c2355bd6ed68f2", + "score": 7.04361659368639e-06, + "score_result": { + "score": 7.04361659368639e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.876603957702173e-06, + 3.1518618470727233e-06, + 3.223015028197551e-06, + 3.657956312963506e-06, + 4.1823632273008116e-06, + 4.417377112986287e-06, + 4.172635271970648e-06, + 3.9993847167352214e-06, + 3.929414560843725e-06, + 4.011746568721719e-06, + 4.38299821325927e-06, + 4.8304282245226204e-06, + 5.131184934725752e-06, + 5.326095561031252e-06, + 5.319045158103108e-06, + 5.210577455727616e-06, + 4.855986844631843e-06, + 4.466723567020381e-06, + 4.2994506657123566e-06, + 4.3057552829850465e-06, + 4.263677965354873e-06, + 4.1020889511855785e-06, + 3.9879373616713565e-06, + 4.0135992094292305e-06, + 4.101117610844085e-06, + 4.340744453656953e-06, + 4.711755991593236e-06, + 4.873425950790988e-06, + 4.820505637326278e-06, + 4.81315055367304e-06, + 5.052002961747348e-06, + 5.351330855773995e-06, + 5.727389179810416e-06, + 5.9966237131448e-06, + 6.056454367353581e-06, + 6.025391940056579e-06, + 6.13825022810488e-06, + 6.315114660537802e-06, + 6.063480213924777e-06, + 5.64562560612103e-06, + 5.477800186781678e-06, + 5.671042345056776e-06, + 5.866470019100234e-06, + 6.048113391443621e-06, + 6.132187536422862e-06, + 6.210633728187531e-06, + 6.34689877188066e-06, + 6.821041552029783e-06, + 7.4094646151934285e-06, + 7.735610779491253e-06, + 7.594664111820748e-06, + 7.3868345680239145e-06, + 7.200494110293221e-06, + 7.029097105260007e-06, + 7.021642886684276e-06, + 7.0669498200004455e-06, + 7.144240953493863e-06, + 7.227919013530482e-06, + 7.312275101867272e-06, + 7.463770998583641e-06, + 7.626754268130753e-06, + 7.81091603130335e-06, + 8.192212590074632e-06, + 8.714737305126619e-06, + 9.323119229520671e-06, + 9.665771358413622e-06, + 9.895947187033016e-06, + 1.0136683158634696e-05, + 1.025907931762049e-05, + 1.0143145118490793e-05, + 9.845432941801846e-06, + 9.686518751550466e-06, + 9.526650501356926e-06, + 9.269913789466955e-06, + 9.03367981663905e-06, + 9.12063660507556e-06, + 9.302772014052607e-06, + 9.334899914392736e-06, + 9.331746696261689e-06, + 9.357508133689407e-06, + 9.494588994130027e-06, + 9.645695172366686e-06, + 9.838944606599398e-06, + 1.0121471859747544e-05, + 1.0328985808882862e-05, + 1.0409563401481137e-05, + 1.0472400390426628e-05, + 1.0546659723331686e-05, + 1.0563694559095893e-05, + 1.0553609172347933e-05, + 1.0614670827635564e-05, + 1.0689458576962352e-05, + 1.0751923582574818e-05, + 1.0830663995875511e-05, + 1.0786606253532227e-05, + 1.0642707820807118e-05 + ] + ], + "episode_mean_losses": [ + 7.04361659368639e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.876603957702173e-06, + "observation_loss": 2.876603957702173e-06, + "chamfer": 2.4396751996391686e-06, + "track": 4.3692867279787606e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.16552102251444e-05, + "observation_loss": 3.1518618470727233e-06, + "chamfer": 2.66551205641008e-06, + "track": 4.863498475060624e-07, + "acceleration": 3.8503349060192704e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3003469323157333e-05, + "observation_loss": 3.223015028197551e-06, + "chamfer": 2.7296130156173604e-06, + "track": 4.934021262670285e-07, + "acceleration": 1.9780454749707133e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0044404007203411e-05, + "observation_loss": 3.657956312963506e-06, + "chamfer": 3.085326397922472e-06, + "track": 5.726300287278718e-07, + "acceleration": 6.386447694239905e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.680211870640051e-06, + "observation_loss": 4.1823632273008116e-06, + "chamfer": 3.507998826535186e-06, + "track": 6.743644576090446e-07, + "acceleration": 1.4978484159655636e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.501020496012643e-06, + "observation_loss": 4.417377112986287e-06, + "chamfer": 3.695240820889012e-06, + "track": 7.221364057841129e-07, + "acceleration": 1.0836431556526804e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.785631972481497e-06, + "observation_loss": 4.172635271970648e-06, + "chamfer": 3.495096734695835e-06, + "track": 6.775383667445567e-07, + "acceleration": 6.129967573542672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.616515525412979e-06, + "observation_loss": 3.9993847167352214e-06, + "chamfer": 3.3556586913618958e-06, + "track": 6.437258548430691e-07, + "acceleration": 6.171307518343383e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.415782768774079e-06, + "observation_loss": 3.929414560843725e-06, + "chamfer": 3.3020501177816186e-06, + "track": 6.27364499905525e-07, + "acceleration": 4.863681510869355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.316536887927214e-06, + "observation_loss": 4.011746568721719e-06, + "chamfer": 3.3702040127536748e-06, + "track": 6.415427833417198e-07, + "acceleration": 3.047903192054946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.52826134278439e-06, + "observation_loss": 4.38299821325927e-06, + "chamfer": 3.6733383694809163e-06, + "track": 7.096599574651918e-07, + "acceleration": 1.4526320057939301e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.922293101117248e-06, + "observation_loss": 4.8304282245226204e-06, + "chamfer": 4.032974175061099e-06, + "track": 7.974541631483589e-07, + "acceleration": 9.186499738689236e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.2343280003697146e-06, + "observation_loss": 5.131184934725752e-06, + "chamfer": 4.280564553482691e-06, + "track": 8.506205517733179e-07, + "acceleration": 1.0314308696024455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.433560090750689e-06, + "observation_loss": 5.326095561031252e-06, + "chamfer": 4.446937964530662e-06, + "track": 8.791575396571716e-07, + "acceleration": 1.0746436629460732e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.3802259571966715e-06, + "observation_loss": 5.319045158103108e-06, + "chamfer": 4.4452244765125215e-06, + "track": 8.738209089642623e-07, + "acceleration": 6.118079909356311e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.334167781256838e-06, + "observation_loss": 5.210577455727616e-06, + "chamfer": 4.356516001280397e-06, + "track": 8.540614544472191e-07, + "acceleration": 1.2359029710751201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.058387159806443e-06, + "observation_loss": 4.855986844631843e-06, + "chamfer": 4.065363100380637e-06, + "track": 7.906235168775311e-07, + "acceleration": 2.0240024412032653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.798977897735313e-06, + "observation_loss": 4.466723567020381e-06, + "chamfer": 3.743438355741091e-06, + "track": 7.232850407490332e-07, + "acceleration": 3.3225455808860715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.480100869841408e-06, + "observation_loss": 4.2994506657123566e-06, + "chamfer": 3.6011167594551807e-06, + "track": 6.983337357269193e-07, + "acceleration": 1.8065011886392313e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.446289494808298e-06, + "observation_loss": 4.3057552829850465e-06, + "chamfer": 3.602239758038195e-06, + "track": 7.035156386336894e-07, + "acceleration": 1.4053404129299452e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5678275455429684e-06, + "observation_loss": 4.263677965354873e-06, + "chamfer": 3.5659552395372884e-06, + "track": 6.977227826610033e-07, + "acceleration": 3.041495233446767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.485352292249445e-06, + "observation_loss": 4.1020889511855785e-06, + "chamfer": 3.434015525272116e-06, + "track": 6.680734259134624e-07, + "acceleration": 3.832633410638664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.700269528257195e-06, + "observation_loss": 3.9879373616713565e-06, + "chamfer": 3.3442167932662414e-06, + "track": 6.43720568405115e-07, + "acceleration": 7.12332337116095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.977814569429029e-06, + "observation_loss": 4.0135992094292305e-06, + "chamfer": 3.3607059322093846e-06, + "track": 6.528931066895893e-07, + "acceleration": 9.64215473686636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.715826435131021e-06, + "observation_loss": 4.101117610844085e-06, + "chamfer": 3.4157806112489197e-06, + "track": 6.853370564385841e-07, + "acceleration": 6.147089948171924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.648769845516654e-06, + "observation_loss": 4.340744453656953e-06, + "chamfer": 3.5951438803749625e-06, + "track": 7.456004595951526e-07, + "acceleration": 3.080255908116669e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.974809598934371e-06, + "observation_loss": 4.711755991593236e-06, + "chamfer": 3.878196821460733e-06, + "track": 8.335591701325029e-07, + "acceleration": 2.630535789194255e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.185077498026658e-06, + "observation_loss": 4.873425950790988e-06, + "chamfer": 4.002184596174629e-06, + "track": 8.712414683031966e-07, + "acceleration": 3.1165134828370356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3741141528007574e-06, + "observation_loss": 4.820505637326278e-06, + "chamfer": 3.959255991503596e-06, + "track": 8.612496458226815e-07, + "acceleration": 5.536086291613174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.272136149869766e-06, + "observation_loss": 4.81315055367304e-06, + "chamfer": 3.962944902013987e-06, + "track": 8.50205594815634e-07, + "acceleration": 4.589854256664694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.374841293814825e-06, + "observation_loss": 5.052002961747348e-06, + "chamfer": 4.161833203397691e-06, + "track": 8.901699857233325e-07, + "acceleration": 3.228382752240577e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.654257165588206e-06, + "observation_loss": 5.351330855773995e-06, + "chamfer": 4.397053544380469e-06, + "track": 9.542773113935255e-07, + "acceleration": 3.029261392839544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.86439546168549e-06, + "observation_loss": 5.727389179810416e-06, + "chamfer": 4.700125828094315e-06, + "track": 1.0272632380292634e-06, + "acceleration": 1.370061823990909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.250365004234482e-06, + "observation_loss": 5.9966237131448e-06, + "chamfer": 4.905408786726184e-06, + "track": 1.0912150401054532e-06, + "acceleration": 2.537412058245536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.396553544618655e-06, + "observation_loss": 6.056454367353581e-06, + "chamfer": 4.957678356731776e-06, + "track": 1.0987762379954802e-06, + "acceleration": 3.400993477953307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.885234597575618e-06, + "observation_loss": 6.025391940056579e-06, + "chamfer": 4.9248774303123355e-06, + "track": 1.1005145097442437e-06, + "acceleration": 8.598424869887822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.513183274772018e-06, + "observation_loss": 6.13825022810488e-06, + "chamfer": 4.991300102119567e-06, + "track": 1.1469501259853132e-06, + "acceleration": 2.374933501414489e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 9.393487744091544e-06, + "observation_loss": 6.315114660537802e-06, + "chamfer": 5.121449703437975e-06, + "track": 1.1936647297261516e-06, + "acceleration": 3.078372856180067e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.269702448160388e-06, + "observation_loss": 6.063480213924777e-06, + "chamfer": 4.938447091262788e-06, + "track": 1.1250328952883137e-06, + "acceleration": 2.2062224616092863e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 8.126316970447078e-06, + "observation_loss": 5.64562560612103e-06, + "chamfer": 4.61122726846952e-06, + "track": 1.0343983376515098e-06, + "acceleration": 2.4806909095786978e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 8.46223883854691e-06, + "observation_loss": 5.477800186781678e-06, + "chamfer": 4.477570655581076e-06, + "track": 1.0002296448874404e-06, + "acceleration": 2.9844384243915556e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 7.691879545745905e-06, + "observation_loss": 5.671042345056776e-06, + "chamfer": 4.615181296685478e-06, + "track": 1.055861162058136e-06, + "acceleration": 2.020836973315454e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.992123417148832e-06, + "observation_loss": 5.866470019100234e-06, + "chamfer": 4.745852947962703e-06, + "track": 1.1206172985112062e-06, + "acceleration": 1.1256531706749229e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 8.087234164122492e-06, + "observation_loss": 6.048113391443621e-06, + "chamfer": 4.877741957898252e-06, + "track": 1.170371319858532e-06, + "acceleration": 2.039121000052546e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 8.006168172869366e-06, + "observation_loss": 6.132187536422862e-06, + "chamfer": 4.940836788591696e-06, + "track": 1.1913508615180035e-06, + "acceleration": 1.8739804090728285e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.825966920587234e-06, + "observation_loss": 6.210633728187531e-06, + "chamfer": 4.99824773214641e-06, + "track": 1.2123858823542832e-06, + "acceleration": 6.153330787128652e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.771472271793755e-06, + "observation_loss": 6.34689877188066e-06, + "chamfer": 5.106410753796808e-06, + "track": 1.2404881317706895e-06, + "acceleration": 4.2457347149138513e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.211408046714496e-06, + "observation_loss": 6.821041552029783e-06, + "chamfer": 5.464270088850753e-06, + "track": 1.3567714631790295e-06, + "acceleration": 3.903663525761658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.965761142258998e-06, + "observation_loss": 7.4094646151934285e-06, + "chamfer": 5.880444405192975e-06, + "track": 1.5290203236872912e-06, + "acceleration": 5.56296754439245e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.142897058860399e-06, + "observation_loss": 7.735610779491253e-06, + "chamfer": 6.118824785517063e-06, + "track": 1.6167862213478656e-06, + "acceleration": 4.0728659200794937e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.235860150307417e-06, + "observation_loss": 7.594664111820748e-06, + "chamfer": 6.025619768479373e-06, + "track": 1.5690443433413748e-06, + "acceleration": 6.411959247998311e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.85206793807447e-06, + "observation_loss": 7.3868345680239145e-06, + "chamfer": 5.881380275241099e-06, + "track": 1.505454406469653e-06, + "acceleration": 4.6523331320713623e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.4041772677446716e-06, + "observation_loss": 7.200494110293221e-06, + "chamfer": 5.7393667702854145e-06, + "track": 1.4611273400078062e-06, + "acceleration": 2.036833279817074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.092218766047154e-06, + "observation_loss": 7.029097105260007e-06, + "chamfer": 5.609417712548748e-06, + "track": 1.4196796200849349e-06, + "acceleration": 6.312151867859939e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.106104931153823e-06, + "observation_loss": 7.021642886684276e-06, + "chamfer": 5.599967607849976e-06, + "track": 1.4216751651474624e-06, + "acceleration": 8.446215105095689e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.1628687692282256e-06, + "observation_loss": 7.0669498200004455e-06, + "chamfer": 5.623852757707937e-06, + "track": 1.443096948605671e-06, + "acceleration": 9.591905580919047e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.20474645277136e-06, + "observation_loss": 7.144240953493863e-06, + "chamfer": 5.677567514794646e-06, + "track": 1.466673211325542e-06, + "acceleration": 6.050540690694106e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.441783054673579e-06, + "observation_loss": 7.227919013530482e-06, + "chamfer": 5.726300969399745e-06, + "track": 1.5016178167570615e-06, + "acceleration": 2.138639700888234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.864106919441838e-06, + "observation_loss": 7.312275101867272e-06, + "chamfer": 5.791244348074542e-06, + "track": 1.521030867479567e-06, + "acceleration": 5.518314765140531e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.610279110143892e-06, + "observation_loss": 7.463770998583641e-06, + "chamfer": 5.892643002880504e-06, + "track": 1.571127768329461e-06, + "acceleration": 1.1465078841865761e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.27761175262276e-06, + "observation_loss": 7.626754268130753e-06, + "chamfer": 6.019500233378494e-06, + "track": 1.6072541484390968e-06, + "acceleration": 1.6508579392393585e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.803564924164675e-06, + "observation_loss": 7.81091603130335e-06, + "chamfer": 6.161741566756973e-06, + "track": 1.64917480560689e-06, + "acceleration": 9.926493476086762e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.615760634711478e-06, + "observation_loss": 8.192212590074632e-06, + "chamfer": 6.437080628529657e-06, + "track": 1.755131847858138e-06, + "acceleration": 4.2354801621513616e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.026205589179881e-06, + "observation_loss": 8.714737305126619e-06, + "chamfer": 6.793736247345805e-06, + "track": 1.921000830407138e-06, + "acceleration": 3.1146851142693777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.448117452848237e-06, + "observation_loss": 9.323119229520671e-06, + "chamfer": 7.208180250017904e-06, + "track": 2.114938752129092e-06, + "acceleration": 1.249978964779075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.76672708929982e-06, + "observation_loss": 9.665771358413622e-06, + "chamfer": 7.441672096319962e-06, + "track": 2.2240988073463086e-06, + "acceleration": 1.0095529034970241e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0197184565186035e-05, + "observation_loss": 9.895947187033016e-06, + "chamfer": 7.600621302117361e-06, + "track": 2.2953258849156555e-06, + "acceleration": 3.012375202615658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0324847607989796e-05, + "observation_loss": 1.0136683158634696e-05, + "chamfer": 7.745354196231347e-06, + "track": 2.3913289624033496e-06, + "acceleration": 1.8816446356595407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0386699614173267e-05, + "observation_loss": 1.025907931762049e-05, + "chamfer": 7.818919584678952e-06, + "track": 2.440159732941538e-06, + "acceleration": 1.27620310763632e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0498351002752315e-05, + "observation_loss": 1.0143145118490793e-05, + "chamfer": 7.738590284134261e-06, + "track": 2.4045552891038824e-06, + "acceleration": 3.5520560004442814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0760005352494773e-05, + "observation_loss": 9.845432941801846e-06, + "chamfer": 7.555996489827521e-06, + "track": 2.289435997226974e-06, + "acceleration": 9.145724106929265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0275240128976293e-05, + "observation_loss": 9.686518751550466e-06, + "chamfer": 7.443838512699585e-06, + "track": 2.242680466224556e-06, + "acceleration": 5.887210932087328e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.761152796272654e-06, + "observation_loss": 9.526650501356926e-06, + "chamfer": 7.32972603145754e-06, + "track": 2.1969242425257107e-06, + "acceleration": 2.3450208175290754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.518919796391856e-06, + "observation_loss": 9.269913789466955e-06, + "chamfer": 7.140780780900968e-06, + "track": 2.1291325538186356e-06, + "acceleration": 2.490057511295163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.554383723298088e-06, + "observation_loss": 9.03367981663905e-06, + "chamfer": 6.97680434313952e-06, + "track": 2.0568757008732064e-06, + "acceleration": 5.207039066590369e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.2140930266468786e-05, + "observation_loss": 9.12063660507556e-06, + "chamfer": 7.01592489349423e-06, + "track": 2.1047117115813307e-06, + "acceleration": 3.0202934340195497e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1830192306661047e-05, + "observation_loss": 9.302772014052607e-06, + "chamfer": 7.1250269684242085e-06, + "track": 2.177745273002074e-06, + "acceleration": 2.5274200652347645e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1473412087070756e-05, + "observation_loss": 9.334899914392736e-06, + "chamfer": 7.162304882513126e-06, + "track": 2.1725950318796095e-06, + "acceleration": 2.13851217267802e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0941434084088542e-05, + "observation_loss": 9.331746696261689e-06, + "chamfer": 7.1355930231220555e-06, + "track": 2.196153900513309e-06, + "acceleration": 1.6096869330795016e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.050235459842952e-05, + "observation_loss": 9.357508133689407e-06, + "chamfer": 7.1453300733992364e-06, + "track": 2.212178060290171e-06, + "acceleration": 1.1448466921137879e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.028431870508939e-05, + "observation_loss": 9.494588994130027e-06, + "chamfer": 7.228894901345484e-06, + "track": 2.265693865410867e-06, + "acceleration": 7.897297678027826e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0109349204867613e-05, + "observation_loss": 9.645695172366686e-06, + "chamfer": 7.302768153749639e-06, + "track": 2.342927473364398e-06, + "acceleration": 4.636543167180207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.964261153072584e-06, + "observation_loss": 9.838944606599398e-06, + "chamfer": 7.427656328218291e-06, + "track": 2.411288505754783e-06, + "acceleration": 1.2531654647318646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0195562936132774e-05, + "observation_loss": 1.0121471859747544e-05, + "chamfer": 7.624480986123672e-06, + "track": 2.4969904188765213e-06, + "acceleration": 7.409139612946092e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0434760952193756e-05, + "observation_loss": 1.0328985808882862e-05, + "chamfer": 7.766281669319142e-06, + "track": 2.5627036848163698e-06, + "acceleration": 1.0577483067208959e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0516762813495006e-05, + "observation_loss": 1.0409563401481137e-05, + "chamfer": 7.808556802046951e-06, + "track": 2.6010063720605103e-06, + "acceleration": 1.0719969623096404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0624624337651767e-05, + "observation_loss": 1.0472400390426628e-05, + "chamfer": 7.848686436773278e-06, + "track": 2.6237139536533505e-06, + "acceleration": 1.522237198514631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0697643119783606e-05, + "observation_loss": 1.0546659723331686e-05, + "chamfer": 7.886434104875661e-06, + "track": 2.6602256184560247e-06, + "acceleration": 1.5098339645192027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0658748578862287e-05, + "observation_loss": 1.0563694559095893e-05, + "chamfer": 7.889923836046364e-06, + "track": 2.673770723049529e-06, + "acceleration": 9.50540268718214e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0816916983458214e-05, + "observation_loss": 1.0553609172347933e-05, + "chamfer": 7.881742931203917e-06, + "track": 2.671866468517692e-06, + "acceleration": 2.633081237490842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0753590686363168e-05, + "observation_loss": 1.0614670827635564e-05, + "chamfer": 7.915721653262153e-06, + "track": 2.6989487196260598e-06, + "acceleration": 1.389199866252966e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0798609764606226e-05, + "observation_loss": 1.0689458576962352e-05, + "chamfer": 7.950257895572577e-06, + "track": 2.739201136137126e-06, + "acceleration": 1.0915128001443009e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0840190952876583e-05, + "observation_loss": 1.0751923582574818e-05, + "chamfer": 7.989900950633455e-06, + "track": 2.7620228593150387e-06, + "acceleration": 8.826708608467015e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0908442163781729e-05, + "observation_loss": 1.0830663995875511e-05, + "chamfer": 8.034945494728163e-06, + "track": 2.795718728521024e-06, + "acceleration": 7.777801158681541e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0894118531723507e-05, + "observation_loss": 1.0786606253532227e-05, + "chamfer": 8.010230885702185e-06, + "track": 2.7763755952037172e-06, + "acceleration": 1.0751190160362967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0737341654021293e-05, + "observation_loss": 1.0642707820807118e-05, + "chamfer": 7.919829840830062e-06, + "track": 2.722878207350732e-06, + "acceleration": 9.46340108498589e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.33970848646004e-06, + "chamfer_mean": 5.545809045770511e-06, + "track_mean": 1.4978075559094843e-06, + "acceleration_mean": 1.296091876712424e-06, + "observation_score": 7.04361659368639e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4308583849997376 + }, + "score_arrays_file": "pass_scores/pass_end_0349.npz", + "score_arrays_sha256": "b9c89cd17b98b61b24e7a715831b3f688fbf77f3d810d6c0a4f3c54b54e8464b" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0350.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0350.json new file mode 100644 index 0000000000000000000000000000000000000000..68f29645ba2e2375bbfb3fd226139b26b9cd7b95 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0350.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33600, + "completed_passes": 350, + "snapshot": "pass_end_0350", + "candidate": true, + "snapshot_arrays_sha256": "8cf279d7ce4f4fb68be1f130bef79553ed3925c7db962f9f4a9860c9b849c2aa", + "score": 7.040688776290456e-06, + "score_result": { + "score": 7.040688776290456e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8769316031684866e-06, + 3.1516772196482634e-06, + 3.2219436434388626e-06, + 3.656835360743571e-06, + 4.181492840871215e-06, + 4.4172993511892855e-06, + 4.17271303376765e-06, + 3.998678948846646e-06, + 3.928074420400662e-06, + 4.009475560451392e-06, + 4.380580321594607e-06, + 4.827664724871283e-06, + 5.128147677169181e-06, + 5.322491233528126e-06, + 5.315140242601046e-06, + 5.2066716307308525e-06, + 4.852186521020485e-06, + 4.462704055185895e-06, + 4.295847247703932e-06, + 4.302686647861265e-06, + 4.260630248609232e-06, + 4.0970344343804754e-06, + 3.981398094765609e-06, + 4.008991254522698e-06, + 4.099804300494725e-06, + 4.3418594941613264e-06, + 4.711284418590367e-06, + 4.869364602200221e-06, + 4.8154643081943505e-06, + 4.8104857341968454e-06, + 5.052169854025124e-06, + 5.353901542548556e-06, + 5.73391116631683e-06, + 6.003656380926259e-06, + 6.0630486586887855e-06, + 6.028551979397889e-06, + 6.136367119324859e-06, + 6.312252025963971e-06, + 6.059625775378663e-06, + 5.6458225117239635e-06, + 5.474402314575855e-06, + 5.666734068654478e-06, + 5.862148100277409e-06, + 6.040432253939798e-06, + 6.127027063485002e-06, + 6.207695150806103e-06, + 6.343501809169538e-06, + 6.818051588197704e-06, + 7.404282769130077e-06, + 7.731103323749267e-06, + 7.593471764266724e-06, + 7.3835058174154256e-06, + 7.196857495728182e-06, + 7.0254263846436515e-06, + 7.01763838151237e-06, + 7.063439170451602e-06, + 7.142896720324643e-06, + 7.227524747577263e-06, + 7.313691639865283e-06, + 7.466634997399524e-06, + 7.631206244695932e-06, + 7.817478035576642e-06, + 8.200388947443571e-06, + 8.725468433112837e-06, + 9.335901268059388e-06, + 9.680302355263848e-06, + 9.911740562529303e-06, + 1.0154108167625964e-05, + 1.0277031833538786e-05, + 1.01591031125281e-05, + 9.859303645498585e-06, + 9.696492270450108e-06, + 9.53276230575284e-06, + 9.272820534533821e-06, + 9.031558874994516e-06, + 9.120501999859698e-06, + 9.298581062466837e-06, + 9.327598490926903e-06, + 9.321124707639683e-06, + 9.343141755380202e-06, + 9.479961590841413e-06, + 9.630626664147712e-06, + 9.824267181102186e-06, + 1.0104366083396599e-05, + 1.0312467566109262e-05, + 1.0392861440777779e-05, + 1.0454990842845291e-05, + 1.0528437996981665e-05, + 1.0545649274718016e-05, + 1.0536004992900416e-05, + 1.0595441381155979e-05, + 1.0669781659089494e-05, + 1.0732248483691365e-05, + 1.081089794752188e-05, + 1.0766654668259434e-05, + 1.0623518392094411e-05 + ] + ], + "episode_mean_losses": [ + 7.040688776290456e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8769316031684866e-06, + "observation_loss": 2.8769316031684866e-06, + "chamfer": 2.4399366793659283e-06, + "track": 4.3699495222426776e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.166766666457988e-05, + "observation_loss": 3.1516772196482634e-06, + "chamfer": 2.6653524400899187e-06, + "track": 4.863248364017636e-07, + "acceleration": 3.851599103654735e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3002510715741664e-05, + "observation_loss": 3.2219436434388626e-06, + "chamfer": 2.728718754951842e-06, + "track": 4.932248884870205e-07, + "acceleration": 1.9780567527050152e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0043853762908839e-05, + "observation_loss": 3.656835360743571e-06, + "chamfer": 3.0843857530271634e-06, + "track": 5.724494940295699e-07, + "acceleration": 6.387018402165268e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.680656158801867e-06, + "observation_loss": 4.181492840871215e-06, + "chamfer": 3.507248948153574e-06, + "track": 6.742441200913163e-07, + "acceleration": 1.4991633179306518e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.501538453245303e-06, + "observation_loss": 4.4172993511892855e-06, + "chamfer": 3.695126451930264e-06, + "track": 7.221728992590215e-07, + "acceleration": 1.0842391020560171e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.785027158504818e-06, + "observation_loss": 4.17271303376765e-06, + "chamfer": 3.495089458738221e-06, + "track": 6.776237455596856e-07, + "acceleration": 6.1231401105033e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.618476850737352e-06, + "observation_loss": 3.998678948846646e-06, + "chamfer": 3.355000217197812e-06, + "track": 6.436787884922524e-07, + "acceleration": 6.197981292643817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.414942395669641e-06, + "observation_loss": 3.928074420400662e-06, + "chamfer": 3.3008661830535857e-06, + "track": 6.272082941904955e-07, + "acceleration": 4.86867804738722e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.313900717534125e-06, + "observation_loss": 4.009475560451392e-06, + "chamfer": 3.368279976712074e-06, + "track": 6.41195583739318e-07, + "acceleration": 3.0442504339589505e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.526020347839221e-06, + "observation_loss": 4.380580321594607e-06, + "chamfer": 3.6713286135636736e-06, + "track": 7.092518785611901e-07, + "acceleration": 1.4543981308179355e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.9193263294000644e-06, + "observation_loss": 4.827664724871283e-06, + "chamfer": 4.030692707601702e-06, + "track": 7.969720172695816e-07, + "acceleration": 9.166180348074704e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.2314521781227086e-06, + "observation_loss": 5.128147677169181e-06, + "chamfer": 4.278063897800166e-06, + "track": 8.500840067426907e-07, + "acceleration": 1.033042948961338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.429978500615107e-06, + "observation_loss": 5.322491233528126e-06, + "chamfer": 4.443975285539636e-06, + "track": 8.785160616753274e-07, + "acceleration": 1.0748743761723745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.376440185500542e-06, + "observation_loss": 5.315140242601046e-06, + "chamfer": 4.44202760263579e-06, + "track": 8.73112526278419e-07, + "acceleration": 6.129972973667464e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.330334715836216e-06, + "observation_loss": 5.2066716307308525e-06, + "chamfer": 4.35332685810863e-06, + "track": 8.533447726222221e-07, + "acceleration": 1.236629145751067e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.054694611317245e-06, + "observation_loss": 4.852186521020485e-06, + "chamfer": 4.062246716785012e-06, + "track": 7.899398042354733e-07, + "acceleration": 2.0250824661616207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.796464963874314e-06, + "observation_loss": 4.462704055185895e-06, + "chamfer": 3.740110514627304e-06, + "track": 7.225936542454292e-07, + "acceleration": 3.337608518449997e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.47784987045452e-06, + "observation_loss": 4.295847247703932e-06, + "chamfer": 3.598094281187514e-06, + "track": 6.977530802032561e-07, + "acceleration": 1.820028359134085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.4416078708309215e-06, + "observation_loss": 4.302686647861265e-06, + "chamfer": 3.5996426959172823e-06, + "track": 7.030437814137258e-07, + "acceleration": 1.3892129402393039e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.566144070849987e-06, + "observation_loss": 4.260630248609232e-06, + "chamfer": 3.563377276805113e-06, + "track": 6.972528012738621e-07, + "acceleration": 3.055136801322078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.486756552068982e-06, + "observation_loss": 4.0970344343804754e-06, + "chamfer": 3.429803882681881e-06, + "track": 6.672305516985944e-07, + "acceleration": 3.8972211768850684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.70626400783658e-06, + "observation_loss": 3.981398094765609e-06, + "chamfer": 3.3387143503205152e-06, + "track": 6.426838012885128e-07, + "acceleration": 7.248659130709711e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.979048753739335e-06, + "observation_loss": 4.008991254522698e-06, + "chamfer": 3.3567500850040233e-06, + "track": 6.522411695186747e-07, + "acceleration": 9.70057385529799e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.701367288362235e-06, + "observation_loss": 4.099804300494725e-06, + "chamfer": 3.414549155422719e-06, + "track": 6.852551450720057e-07, + "acceleration": 6.015631015543477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.65115863335086e-06, + "observation_loss": 4.3418594941613264e-06, + "chamfer": 3.5958537409896962e-06, + "track": 7.460056394847925e-07, + "acceleration": 3.0929928129808104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.984182851330843e-06, + "observation_loss": 4.711284418590367e-06, + "chamfer": 3.8777693589509e-06, + "track": 8.335152301697235e-07, + "acceleration": 2.728982622102194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.198738108447287e-06, + "observation_loss": 4.869364602200221e-06, + "chamfer": 3.999141881649848e-06, + "track": 8.702227773937921e-07, + "acceleration": 3.293733641385188e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.382576091506053e-06, + "observation_loss": 4.8154643081943505e-06, + "chamfer": 3.955128704546951e-06, + "track": 8.603356036473997e-07, + "acceleration": 5.6711189699854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.265206254989607e-06, + "observation_loss": 4.8104857341968454e-06, + "chamfer": 3.960594767704606e-06, + "track": 8.498909664922394e-07, + "acceleration": 4.5472066290130897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3730163926957175e-06, + "observation_loss": 5.052169854025124e-06, + "chamfer": 4.1617158785811625e-06, + "track": 8.904539754439611e-07, + "acceleration": 3.2084659551401273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.658344434777973e-06, + "observation_loss": 5.353901542548556e-06, + "chamfer": 4.398633336677449e-06, + "track": 9.552680921842693e-07, + "acceleration": 3.044428638077079e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.884169240744086e-06, + "observation_loss": 5.73391116631683e-06, + "chamfer": 4.704943421529606e-06, + "track": 1.0289675174135482e-06, + "acceleration": 1.5025825916836766e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.273036433412926e-06, + "observation_loss": 6.003656380926259e-06, + "chamfer": 4.9104501158581115e-06, + "track": 1.0932060376944719e-06, + "acceleration": 2.6937991037812026e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.409685738617554e-06, + "observation_loss": 6.0630486586887855e-06, + "chamfer": 4.9626514737610705e-06, + "track": 1.100397184927715e-06, + "acceleration": 3.466368809768028e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.911499895068118e-06, + "observation_loss": 6.028551979397889e-06, + "chamfer": 4.927677764499094e-06, + "track": 1.1008742148987949e-06, + "acceleration": 8.829480293570668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.61754142533755e-06, + "observation_loss": 6.136367119324859e-06, + "chamfer": 4.990501111024059e-06, + "track": 1.1458657809271244e-06, + "acceleration": 2.4811740786390146e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 9.626118298911024e-06, + "observation_loss": 6.312252025963971e-06, + "chamfer": 5.119804882269818e-06, + "track": 1.1924472573809908e-06, + "acceleration": 3.3138662729470525e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.373636774194892e-06, + "observation_loss": 6.059625775378663e-06, + "chamfer": 4.935748620482627e-06, + "track": 1.1238771548960358e-06, + "acceleration": 2.3140109988162294e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 8.00410271040164e-06, + "observation_loss": 5.6458225117239635e-06, + "chamfer": 4.61146328234463e-06, + "track": 1.0343592293793336e-06, + "acceleration": 2.3582804260513512e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 8.489918400300667e-06, + "observation_loss": 5.474402314575855e-06, + "chamfer": 4.474946763366461e-06, + "track": 9.994555512093939e-07, + "acceleration": 3.015515630977461e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.047685696510598e-06, + "observation_loss": 5.666734068654478e-06, + "chamfer": 4.611839358403813e-06, + "track": 1.0548947102506645e-06, + "acceleration": 2.380951400482445e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.0245732786133885e-06, + "observation_loss": 5.862148100277409e-06, + "chamfer": 4.742172222904628e-06, + "track": 1.1199758773727808e-06, + "acceleration": 1.1624250646491419e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.82433562562801e-06, + "observation_loss": 6.040432253939798e-06, + "chamfer": 4.8717547542764805e-06, + "track": 1.1686773859764799e-06, + "acceleration": 1.7839032580013736e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 8.247231562563684e-06, + "observation_loss": 6.127027063485002e-06, + "chamfer": 4.9368932195648085e-06, + "track": 1.1901337302333559e-06, + "acceleration": 2.120204726452357e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 6.944733740965603e-06, + "observation_loss": 6.207695150806103e-06, + "chamfer": 4.99605221193633e-06, + "track": 1.2116430525566102e-06, + "acceleration": 7.370387038463377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.81609481034684e-06, + "observation_loss": 6.343501809169538e-06, + "chamfer": 5.103826424601721e-06, + "track": 1.2396751571941422e-06, + "acceleration": 4.725930580207205e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.189370535343187e-06, + "observation_loss": 6.818051588197704e-06, + "chamfer": 5.461894943437073e-06, + "track": 1.3561568721343065e-06, + "acceleration": 3.713190039889014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.9221063060686e-06, + "observation_loss": 7.404282769130077e-06, + "chamfer": 5.8766290749190375e-06, + "track": 1.5276536942110397e-06, + "acceleration": 5.178233664082654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.194568181352224e-06, + "observation_loss": 7.731103323749267e-06, + "chamfer": 6.115797987149563e-06, + "track": 1.615304881852353e-06, + "acceleration": 4.6346505655492365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.25627830636222e-06, + "observation_loss": 7.593471764266724e-06, + "chamfer": 6.024996309861308e-06, + "track": 1.568475340718578e-06, + "acceleration": 6.628065420954954e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.852718226786237e-06, + "observation_loss": 7.3835058174154256e-06, + "chamfer": 5.879159743926721e-06, + "track": 1.5043460734887049e-06, + "acceleration": 4.692127504313248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.419027042487869e-06, + "observation_loss": 7.196857495728182e-06, + "chamfer": 5.736844286730047e-06, + "track": 1.4600130953112966e-06, + "acceleration": 2.2216956097054208e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.086710411385866e-06, + "observation_loss": 7.0254263846436515e-06, + "chamfer": 5.606666036328534e-06, + "track": 1.4187601209414424e-06, + "acceleration": 6.128389173909454e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.110833848855691e-06, + "observation_loss": 7.01763838151237e-06, + "chamfer": 5.5968657761695795e-06, + "track": 1.420772832716466e-06, + "acceleration": 9.319553839759465e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.159635515563423e-06, + "observation_loss": 7.063439170451602e-06, + "chamfer": 5.621044692816213e-06, + "track": 1.442394591322227e-06, + "acceleration": 9.619655827464157e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.203656878118636e-06, + "observation_loss": 7.142896720324643e-06, + "chamfer": 5.676496130035957e-06, + "track": 1.4664005902886856e-06, + "acceleration": 6.07600298963007e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.443278718710644e-06, + "observation_loss": 7.227524747577263e-06, + "chamfer": 5.725951723434264e-06, + "track": 1.5015730241429992e-06, + "acceleration": 2.157540421876547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.871468369557988e-06, + "observation_loss": 7.313691639865283e-06, + "chamfer": 5.792246156488545e-06, + "track": 1.5214453696899e-06, + "acceleration": 5.577765023190295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.628878276795149e-06, + "observation_loss": 7.466634997399524e-06, + "chamfer": 5.8948053265339695e-06, + "track": 1.571829443491879e-06, + "acceleration": 1.1622433930824627e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.30192709347466e-06, + "observation_loss": 7.631206244695932e-06, + "chamfer": 6.022797606419772e-06, + "track": 1.6084081835288089e-06, + "acceleration": 1.6707211898392416e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.824153155728709e-06, + "observation_loss": 7.817478035576642e-06, + "chamfer": 6.166665571072372e-06, + "track": 1.6508121234437567e-06, + "acceleration": 1.0066751201520674e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.630804586573504e-06, + "observation_loss": 8.200388947443571e-06, + "chamfer": 6.442882749979617e-06, + "track": 1.7575058564034407e-06, + "acceleration": 4.304159517687367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.039685210154857e-06, + "observation_loss": 8.725468433112837e-06, + "chamfer": 6.801280505897012e-06, + "track": 1.924187472468475e-06, + "acceleration": 3.14217032837405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.46168256632518e-06, + "observation_loss": 9.335901268059388e-06, + "chamfer": 7.217065558506874e-06, + "track": 2.1188357095525134e-06, + "acceleration": 1.2578142616348487e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.782001143321395e-06, + "observation_loss": 9.680302355263848e-06, + "chamfer": 7.451622423104709e-06, + "track": 2.2286797047854634e-06, + "acceleration": 1.0169880937382914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0213127097813413e-05, + "observation_loss": 9.911740562529303e-06, + "chamfer": 7.611336968693649e-06, + "track": 2.3004040485830046e-06, + "acceleration": 3.0138608053675853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0342744644731283e-05, + "observation_loss": 1.0154108167625964e-05, + "chamfer": 7.757357707305346e-06, + "track": 2.3967502329469426e-06, + "acceleration": 1.8863660500301194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0404416570963804e-05, + "observation_loss": 1.0277031833538786e-05, + "chamfer": 7.831356924725696e-06, + "track": 2.44567536356044e-06, + "acceleration": 1.2738469479245396e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0511947039049119e-05, + "observation_loss": 1.01591031125281e-05, + "chamfer": 7.749318683636375e-06, + "track": 2.409783974144375e-06, + "acceleration": 3.5284429600324074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0772658242785838e-05, + "observation_loss": 9.859303645498585e-06, + "chamfer": 7.5655680120689794e-06, + "track": 2.293735860803281e-06, + "acceleration": 9.133547109740903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0292483239027206e-05, + "observation_loss": 9.696492270450108e-06, + "chamfer": 7.450667908415198e-06, + "track": 2.2458239072875585e-06, + "acceleration": 5.959910822639358e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.772196790436283e-06, + "observation_loss": 9.53276230575284e-06, + "chamfer": 7.333866960834712e-06, + "track": 2.1988955722918035e-06, + "acceleration": 2.394346836354089e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.524305824015755e-06, + "observation_loss": 9.272820534533821e-06, + "chamfer": 7.142536560422741e-06, + "track": 2.1302842014847556e-06, + "acceleration": 2.514851189516776e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.52906884776894e-06, + "observation_loss": 9.031558874994516e-06, + "chamfer": 6.97463428878109e-06, + "track": 2.056924813587102e-06, + "acceleration": 4.975099159310048e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.1951892702199984e-05, + "observation_loss": 9.120501999859698e-06, + "chamfer": 7.016426934569608e-06, + "track": 2.1040750652900897e-06, + "acceleration": 2.8313909297139617e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1829799404949881e-05, + "observation_loss": 9.298581062466837e-06, + "chamfer": 7.121577709767735e-06, + "track": 2.177003352699103e-06, + "acceleration": 2.5312187972303946e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1530003575899173e-05, + "observation_loss": 9.327598490926903e-06, + "chamfer": 7.157150321290828e-06, + "track": 2.1704481696360745e-06, + "acceleration": 2.2024053123459453e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0926824870693963e-05, + "observation_loss": 9.321124707639683e-06, + "chamfer": 7.12794144419604e-06, + "track": 2.1931834908173187e-06, + "acceleration": 1.6056998219937668e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0498665687919129e-05, + "observation_loss": 9.343141755380202e-06, + "chamfer": 7.13472309143981e-06, + "track": 2.2084186639403924e-06, + "acceleration": 1.1555239325389266e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0270274287904613e-05, + "observation_loss": 9.479961590841413e-06, + "chamfer": 7.218753125926014e-06, + "track": 2.261208237541723e-06, + "acceleration": 7.903129812802945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0089856004924513e-05, + "observation_loss": 9.630626664147712e-06, + "chamfer": 7.292594091268256e-06, + "track": 2.338033027626807e-06, + "acceleration": 4.5922973868073313e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.947090802597813e-06, + "observation_loss": 9.824267181102186e-06, + "chamfer": 7.417571850965032e-06, + "track": 2.406695330137154e-06, + "acceleration": 1.2282406203212304e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0176805517403409e-05, + "observation_loss": 1.0104366083396599e-05, + "chamfer": 7.6125943451188505e-06, + "track": 2.4917719656514237e-06, + "acceleration": 7.243952637736584e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0416179975436535e-05, + "observation_loss": 1.0312467566109262e-05, + "chamfer": 7.755084880045615e-06, + "track": 2.557383140810998e-06, + "acceleration": 1.0371240222184497e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0495982678548899e-05, + "observation_loss": 1.0392861440777779e-05, + "chamfer": 7.79729089117609e-06, + "track": 2.5955707769753644e-06, + "acceleration": 1.03121358563385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0605374882288743e-05, + "observation_loss": 1.0454990842845291e-05, + "chamfer": 7.836989425413776e-06, + "track": 2.6180014174315147e-06, + "acceleration": 1.5038406786516134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0677697900973726e-05, + "observation_loss": 1.0528437996981665e-05, + "chamfer": 7.874251423345413e-06, + "track": 2.6541865736362524e-06, + "acceleration": 1.4925980451607757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0637303603289183e-05, + "observation_loss": 1.0545649274718016e-05, + "chamfer": 7.877913958509453e-06, + "track": 2.667735543582239e-06, + "acceleration": 9.165427172774798e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0793680303322617e-05, + "observation_loss": 1.0536004992900416e-05, + "chamfer": 7.870213266869541e-06, + "track": 2.6657919534045504e-06, + "acceleration": 2.5767508304852527e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0730734175012913e-05, + "observation_loss": 1.0595441381155979e-05, + "chamfer": 7.903078767412808e-06, + "track": 2.692362613743171e-06, + "acceleration": 1.352929643871903e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0777738680189941e-05, + "observation_loss": 1.0669781659089494e-05, + "chamfer": 7.937323061923962e-06, + "track": 2.7324585971655324e-06, + "acceleration": 1.0795667293450606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0819873750733677e-05, + "observation_loss": 1.0732248483691365e-05, + "chamfer": 7.976900633366313e-06, + "track": 2.7553476229513763e-06, + "acceleration": 8.762502545778261e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0888767974392977e-05, + "observation_loss": 1.081089794752188e-05, + "chamfer": 8.02199065219611e-06, + "track": 2.78890684057842e-06, + "acceleration": 7.786965028344639e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.087476994143799e-05, + "observation_loss": 1.0766654668259434e-05, + "chamfer": 7.99701319920132e-06, + "track": 2.7696416964317905e-06, + "acceleration": 1.08115251862273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0718131306930445e-05, + "observation_loss": 1.0623518392094411e-05, + "chamfer": 7.907176950538997e-06, + "track": 2.716341214181739e-06, + "acceleration": 9.461325589654734e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.347250227321487e-06, + "chamfer_mean": 5.5436998825560595e-06, + "track_mean": 1.496988885740791e-06, + "acceleration_mean": 1.3065614925533708e-06, + "observation_score": 7.040688776290456e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.43059195800015 + }, + "score_arrays_file": "pass_scores/pass_end_0350.npz", + "score_arrays_sha256": "428346440a574fb223579e7440a7b1d74688151c7edb0a0ea216649a30a99d7c" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0351.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0351.json new file mode 100644 index 0000000000000000000000000000000000000000..1d4206b140178ce3d15444b2eb6e809347b111e6 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0351.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33696, + "completed_passes": 351, + "snapshot": "pass_end_0351", + "candidate": true, + "snapshot_arrays_sha256": "df708454715aec60eaa9680e96849da12238bb40ce25e3ab287eeaf8bcff4d6d", + "score": 7.037875050741604e-06, + "score_result": { + "score": 7.037875050741604e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.877263113987283e-06, + 3.15156512442627e-06, + 3.22079313264112e-06, + 3.6556896247930126e-06, + 4.1801804400165565e-06, + 4.4164385144540574e-06, + 4.172284661763115e-06, + 3.997609383077361e-06, + 3.92642641600105e-06, + 4.007173174613854e-06, + 4.377816367195919e-06, + 4.823627932637464e-06, + 5.123763912706636e-06, + 5.3174348977336194e-06, + 5.309670541464584e-06, + 5.201024578127544e-06, + 4.8470542424183805e-06, + 4.45751993538579e-06, + 4.291665845812531e-06, + 4.29862120654434e-06, + 4.2557007873256225e-06, + 4.0900331441662274e-06, + 3.973114871769212e-06, + 4.003372851002496e-06, + 4.098747922398616e-06, + 4.343430646258639e-06, + 4.7112780521274544e-06, + 4.866678864345886e-06, + 4.8119754865183495e-06, + 4.8100450840138365e-06, + 5.054963367001619e-06, + 5.3592020776704885e-06, + 5.742769189964747e-06, + 6.01289593760157e-06, + 6.071636562410276e-06, + 6.0331967688398436e-06, + 6.137157924968051e-06, + 6.310976914392086e-06, + 6.0582942751352675e-06, + 5.649284048558911e-06, + 5.471308213600423e-06, + 5.662145667884033e-06, + 5.856383268110221e-06, + 6.031759767211042e-06, + 6.121791557234246e-06, + 6.203983048180817e-06, + 6.33881927569746e-06, + 6.811559615016449e-06, + 7.395939519483363e-06, + 7.723288035776932e-06, + 7.5893431130680256e-06, + 7.380172519333428e-06, + 7.192846624093363e-06, + 7.022223599051358e-06, + 7.0150244937394746e-06, + 7.060154530336149e-06, + 7.140542038541753e-06, + 7.226171874208376e-06, + 7.312781235668808e-06, + 7.466385795851238e-06, + 7.631610060343519e-06, + 7.819167876732536e-06, + 8.202412573155016e-06, + 8.729112778382841e-06, + 9.341259101347532e-06, + 9.687506462796591e-06, + 9.920251613948494e-06, + 1.01639252534369e-05, + 1.0287303666700609e-05, + 1.016817259369418e-05, + 9.866198524832726e-06, + 9.699900147097651e-06, + 9.53413746174192e-06, + 9.272357601730619e-06, + 9.029014108818956e-06, + 9.1216825239826e-06, + 9.297988071921282e-06, + 9.32581224333262e-06, + 9.317162039224058e-06, + 9.335001777799334e-06, + 9.471013072470669e-06, + 9.620158380130306e-06, + 9.8147838798468e-06, + 1.0092842785525136e-05, + 1.0300963367626537e-05, + 1.038125355989905e-05, + 1.044262717186939e-05, + 1.051557410391979e-05, + 1.0532858141232282e-05, + 1.0523594937694725e-05, + 1.0582302820694167e-05, + 1.0656608537829015e-05, + 1.0719102647271939e-05, + 1.0797581126098521e-05, + 1.0753226888482459e-05, + 1.0610535355226602e-05 + ] + ], + "episode_mean_losses": [ + 7.037875050741604e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.877263113987283e-06, + "observation_loss": 2.877263113987283e-06, + "chamfer": 2.440201342324144e-06, + "track": 4.3706177166313864e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1678897105157375e-05, + "observation_loss": 3.15156512442627e-06, + "chamfer": 2.665254669409478e-06, + "track": 4.863103413299541e-07, + "acceleration": 3.852733061648905e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.300297455803957e-05, + "observation_loss": 3.22079313264112e-06, + "chamfer": 2.727757419052068e-06, + "track": 4.93035599902214e-07, + "acceleration": 1.9782180970651098e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0042947906185873e-05, + "observation_loss": 3.6556896247930126e-06, + "chamfer": 3.0834269182378193e-06, + "track": 5.722626497117744e-07, + "acceleration": 6.387258054019185e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.6789867812767625e-06, + "observation_loss": 4.1801804400165565e-06, + "chamfer": 3.5061518701695604e-06, + "track": 6.740283424733207e-07, + "acceleration": 1.4988065686338814e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.500629413290881e-06, + "observation_loss": 4.4164385144540574e-06, + "chamfer": 3.694395445563714e-06, + "track": 7.220430120469246e-07, + "acceleration": 1.084191012523661e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.78281754112686e-06, + "observation_loss": 4.172284661763115e-06, + "chamfer": 3.4946856430906337e-06, + "track": 6.775991892027378e-07, + "acceleration": 6.105328793637455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.618313141691033e-06, + "observation_loss": 3.997609383077361e-06, + "chamfer": 3.3540611639182316e-06, + "track": 6.435483896893857e-07, + "acceleration": 6.207039859873476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.413015631143935e-06, + "observation_loss": 3.92642641600105e-06, + "chamfer": 3.2994491903082235e-06, + "track": 6.269771688494075e-07, + "acceleration": 4.865893288297229e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.311693373892922e-06, + "observation_loss": 4.007173174613854e-06, + "chamfer": 3.366344344613026e-06, + "track": 6.408287731574092e-07, + "acceleration": 3.045201708573586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.523559709923575e-06, + "observation_loss": 4.377816367195919e-06, + "chamfer": 3.669051238830434e-06, + "track": 7.087651852089039e-07, + "acceleration": 1.4574354167962156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.915436420560582e-06, + "observation_loss": 4.823627932637464e-06, + "chamfer": 4.027404884254793e-06, + "track": 7.96223275756347e-07, + "acceleration": 9.180826765486927e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.227382189332275e-06, + "observation_loss": 5.123763912706636e-06, + "chamfer": 4.2745177779579535e-06, + "track": 8.492459073750069e-07, + "acceleration": 1.036182979419209e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.425109065981815e-06, + "observation_loss": 5.3174348977336194e-06, + "chamfer": 4.439864824234974e-06, + "track": 8.775699598118081e-07, + "acceleration": 1.0767433877845178e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.370930466597201e-06, + "observation_loss": 5.309670541464584e-06, + "chamfer": 4.437567895365646e-06, + "track": 8.721025324121001e-07, + "acceleration": 6.125981855120699e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.324670837580925e-06, + "observation_loss": 5.201024578127544e-06, + "chamfer": 4.348722086433554e-06, + "track": 8.523025485374092e-07, + "acceleration": 1.2364620260996162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.049651917943265e-06, + "observation_loss": 4.8470542424183805e-06, + "chamfer": 4.0580544009571895e-06, + "track": 7.88999841461191e-07, + "acceleration": 2.0259749078377354e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.792231266037561e-06, + "observation_loss": 4.45751993538579e-06, + "chamfer": 3.7358263398346025e-06, + "track": 7.216935387077683e-07, + "acceleration": 3.3471121696493356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.474674824450631e-06, + "observation_loss": 4.291665845812531e-06, + "chamfer": 3.5946000025433023e-06, + "track": 6.970660137994855e-07, + "acceleration": 1.8300895021639008e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.435862138052471e-06, + "observation_loss": 4.29862120654434e-06, + "chamfer": 3.5962355013907654e-06, + "track": 7.023859325272497e-07, + "acceleration": 1.3724095992984076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5614788177772425e-06, + "observation_loss": 4.2557007873256225e-06, + "chamfer": 3.559270226105582e-06, + "track": 6.964307317502971e-07, + "acceleration": 3.057781157167483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.476189133129083e-06, + "observation_loss": 4.0900331441662274e-06, + "chamfer": 3.4239981232531136e-06, + "track": 6.660351345999516e-07, + "acceleration": 3.861561026496929e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.67304244011757e-06, + "observation_loss": 3.973114871769212e-06, + "chamfer": 3.331749439894338e-06, + "track": 6.413653181880363e-07, + "acceleration": 6.999274546615197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.9303484956908505e-06, + "observation_loss": 4.003372851002496e-06, + "chamfer": 3.3519413591420744e-06, + "track": 6.514314350170025e-07, + "acceleration": 9.269757583751925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.662533683585934e-06, + "observation_loss": 4.098747922398616e-06, + "chamfer": 3.4135521218559006e-06, + "track": 6.851960279163904e-07, + "acceleration": 5.637858180307376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.649314632843016e-06, + "observation_loss": 4.343430646258639e-06, + "chamfer": 3.5969285363535164e-06, + "track": 7.465021667485416e-07, + "acceleration": 3.0588407184950483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 4.997538781026378e-06, + "observation_loss": 4.7112780521274544e-06, + "chamfer": 3.877757990267128e-06, + "track": 8.335202323905833e-07, + "acceleration": 2.862607004772144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.215851160755847e-06, + "observation_loss": 4.866678864345886e-06, + "chamfer": 3.997242856712546e-06, + "track": 8.694361213201773e-07, + "acceleration": 3.4917229640996084e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.390882051869994e-06, + "observation_loss": 4.8119754865183495e-06, + "chamfer": 3.952290626330068e-06, + "track": 8.596848033448623e-07, + "acceleration": 5.789066221950634e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.258876171865268e-06, + "observation_loss": 4.8100450840138365e-06, + "chamfer": 3.9600645322934724e-06, + "track": 8.499807222506206e-07, + "acceleration": 4.4883100258630293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.371912266127765e-06, + "observation_loss": 5.054963367001619e-06, + "chamfer": 4.163767243881011e-06, + "track": 8.911960094337701e-07, + "acceleration": 3.169490128129837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6609628700243775e-06, + "observation_loss": 5.3592020776704885e-06, + "chamfer": 4.402428658067947e-06, + "track": 9.567736469762167e-07, + "acceleration": 3.0176096288414556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.900455107621383e-06, + "observation_loss": 5.742769189964747e-06, + "chamfer": 4.711553174274741e-06, + "track": 1.0312160156900063e-06, + "acceleration": 1.57685761337234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.287424639594974e-06, + "observation_loss": 6.01289593760157e-06, + "chamfer": 4.917185378872091e-06, + "track": 1.0957103313558036e-06, + "acceleration": 2.745287588368228e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.406459306163015e-06, + "observation_loss": 6.071636562410276e-06, + "chamfer": 4.969148903910536e-06, + "track": 1.1024874311260646e-06, + "acceleration": 3.348229427047045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.850444151496049e-06, + "observation_loss": 6.0331967688398436e-06, + "chamfer": 4.931616786052473e-06, + "track": 1.101579869100533e-06, + "acceleration": 8.172473258127866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.54341487865895e-06, + "observation_loss": 6.137157924968051e-06, + "chamfer": 4.991839887225069e-06, + "track": 1.1453180377429817e-06, + "acceleration": 2.406257181064575e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 9.798786777537316e-06, + "observation_loss": 6.310976914392086e-06, + "chamfer": 5.119510660733795e-06, + "track": 1.1914661399714532e-06, + "acceleration": 3.487809635771555e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.514942237525247e-06, + "observation_loss": 6.0582942751352675e-06, + "chamfer": 4.935053311783122e-06, + "track": 1.123240849665308e-06, + "acceleration": 2.4566475076426286e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.847273082006723e-06, + "observation_loss": 5.649284048558911e-06, + "chamfer": 4.614268618752249e-06, + "track": 1.0350154298066627e-06, + "acceleration": 2.1979890334478114e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 8.398304089496378e-06, + "observation_loss": 5.471308213600423e-06, + "chamfer": 4.472597538551781e-06, + "track": 9.987106750486419e-07, + "acceleration": 2.92699610326963e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.370960131287575e-06, + "observation_loss": 5.662145667884033e-06, + "chamfer": 4.6082332119112834e-06, + "track": 1.0539126833464252e-06, + "acceleration": 2.7088140086561907e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.154857485147659e-06, + "observation_loss": 5.856383268110221e-06, + "chamfer": 4.737396920972969e-06, + "track": 1.1189864608240896e-06, + "acceleration": 1.298473989663762e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.5002890298492275e-06, + "observation_loss": 6.031759767211042e-06, + "chamfer": 4.865029495704221e-06, + "track": 1.166730157819984e-06, + "acceleration": 1.468529376325023e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 8.313591024489142e-06, + "observation_loss": 6.121791557234246e-06, + "chamfer": 4.932954652758781e-06, + "track": 1.1888370181623031e-06, + "acceleration": 2.1917992398812203e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.099683898559306e-06, + "observation_loss": 6.203983048180817e-06, + "chamfer": 4.99323050462408e-06, + "track": 1.2107526572435745e-06, + "acceleration": 8.95700907221908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.873878646729281e-06, + "observation_loss": 6.33881927569746e-06, + "chamfer": 5.100195721752243e-06, + "track": 1.2386235539452173e-06, + "acceleration": 5.350594847186585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.171742709033424e-06, + "observation_loss": 6.811559615016449e-06, + "chamfer": 5.45684542885283e-06, + "track": 1.3547140724767814e-06, + "acceleration": 3.6018306559526536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.869801265769638e-06, + "observation_loss": 7.395939519483363e-06, + "chamfer": 5.87047452427214e-06, + "track": 1.5254649952112231e-06, + "acceleration": 4.73861888394822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.251161489170045e-06, + "observation_loss": 7.723288035776932e-06, + "chamfer": 6.1102473409846425e-06, + "track": 1.6130409221659647e-06, + "acceleration": 5.278739081404638e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.243109732575249e-06, + "observation_loss": 7.5893431130680256e-06, + "chamfer": 6.022153684170917e-06, + "track": 1.5671892015234334e-06, + "acceleration": 6.537662784467102e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.851946065784432e-06, + "observation_loss": 7.380172519333428e-06, + "chamfer": 5.87688691666699e-06, + "track": 1.5032854889796e-06, + "acceleration": 4.717736032944231e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.400770755339181e-06, + "observation_loss": 7.192846624093363e-06, + "chamfer": 5.734082606068114e-06, + "track": 1.4587640180252492e-06, + "acceleration": 2.0792415966752742e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.0942260208539665e-06, + "observation_loss": 7.022223599051358e-06, + "chamfer": 5.604385933111189e-06, + "track": 1.4178376659401692e-06, + "acceleration": 7.200225127235171e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.110362730600173e-06, + "observation_loss": 7.0150244937394746e-06, + "chamfer": 5.594936737907119e-06, + "track": 1.42008752845868e-06, + "acceleration": 9.53382013335613e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.159573669923702e-06, + "observation_loss": 7.060154530336149e-06, + "chamfer": 5.6185626817750745e-06, + "track": 1.4415916211873991e-06, + "acceleration": 9.94191253766985e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.20081698091235e-06, + "observation_loss": 7.140542038541753e-06, + "chamfer": 5.674679869116517e-06, + "track": 1.4658620557383983e-06, + "acceleration": 6.027477184034069e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.439583896484692e-06, + "observation_loss": 7.226171874208376e-06, + "chamfer": 5.72487761019147e-06, + "track": 1.5012944913905812e-06, + "acceleration": 2.134120791197347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.873224603827111e-06, + "observation_loss": 7.312781235668808e-06, + "chamfer": 5.791537205368513e-06, + "track": 1.5212442576739704e-06, + "acceleration": 5.604437092188164e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.637156497570686e-06, + "observation_loss": 7.466385795851238e-06, + "chamfer": 5.894654350413475e-06, + "track": 1.5717314454377629e-06, + "acceleration": 1.170770246972097e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.311819667345844e-06, + "observation_loss": 7.631610060343519e-06, + "chamfer": 6.023095011187252e-06, + "track": 1.6085145944089163e-06, + "acceleration": 1.6802092659418122e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.832252206047997e-06, + "observation_loss": 7.819167876732536e-06, + "chamfer": 6.168021627672715e-06, + "track": 1.6511459079993074e-06, + "acceleration": 1.0130838745681103e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.634619916847441e-06, + "observation_loss": 8.202412573155016e-06, + "chamfer": 6.444288374041207e-06, + "track": 1.7581239717401331e-06, + "acceleration": 4.322069173667842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.043411409948021e-06, + "observation_loss": 8.729112778382841e-06, + "chamfer": 6.803841188229853e-06, + "track": 1.925271590152988e-06, + "acceleration": 3.142983757697948e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.466643859923352e-06, + "observation_loss": 9.341259101347532e-06, + "chamfer": 7.2208781602967065e-06, + "track": 2.120381168424501e-06, + "acceleration": 1.2538490068436658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.788958777789958e-06, + "observation_loss": 9.687506462796591e-06, + "chamfer": 7.456682396878023e-06, + "track": 2.2308240659185685e-06, + "acceleration": 1.0145202367084494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0220614058198407e-05, + "observation_loss": 9.920251613948494e-06, + "chamfer": 7.6172846092958935e-06, + "track": 2.3029667772789253e-06, + "acceleration": 3.003622452979471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.035246441460913e-05, + "observation_loss": 1.01639252534369e-05, + "chamfer": 7.76436718297191e-06, + "track": 2.39955761571764e-06, + "acceleration": 1.8853884853342606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.04142127383966e-05, + "observation_loss": 1.0287303666700609e-05, + "chamfer": 7.838674719096161e-06, + "track": 2.4486289476044476e-06, + "acceleration": 1.269091001177003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0518832823436242e-05, + "observation_loss": 1.016817259369418e-05, + "chamfer": 7.755647857266013e-06, + "track": 2.4125242816808168e-06, + "acceleration": 3.506598034164199e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0772463610919658e-05, + "observation_loss": 9.866198524832726e-06, + "chamfer": 7.570425623271149e-06, + "track": 2.295772901561577e-06, + "acceleration": 9.062649724000948e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0293910236214288e-05, + "observation_loss": 9.699900147097651e-06, + "chamfer": 7.453043508576229e-06, + "track": 2.246856865895097e-06, + "acceleration": 5.940100891166367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.775364560482558e-06, + "observation_loss": 9.53413746174192e-06, + "chamfer": 7.334739166253712e-06, + "track": 2.199398068114533e-06, + "acceleration": 2.412267008367053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.527106158202514e-06, + "observation_loss": 9.272357601730619e-06, + "chamfer": 7.141988135117572e-06, + "track": 2.130369466613047e-06, + "acceleration": 2.547486133153143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.510031304671429e-06, + "observation_loss": 9.029014108818956e-06, + "chamfer": 6.9722877924505156e-06, + "track": 2.0567260889947647e-06, + "acceleration": 4.810168547919602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.1784853995777667e-05, + "observation_loss": 9.1216825239826e-06, + "chamfer": 7.017706138867652e-06, + "track": 2.1039766124886228e-06, + "acceleration": 2.6631710170477163e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1835278201033361e-05, + "observation_loss": 9.297988071921282e-06, + "chamfer": 7.120600002963329e-06, + "track": 2.1773882963316282e-06, + "acceleration": 2.537290356485755e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1589805581024848e-05, + "observation_loss": 9.32581224333262e-06, + "chamfer": 7.155773801059695e-06, + "track": 2.170038669646601e-06, + "acceleration": 2.2639933376922272e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0916695828200318e-05, + "observation_loss": 9.317162039224058e-06, + "chamfer": 7.125031970645068e-06, + "track": 2.1921296138316393e-06, + "acceleration": 1.5995336752894218e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0499722520762589e-05, + "observation_loss": 9.335001777799334e-06, + "chamfer": 7.128557626856491e-06, + "track": 2.206444378316519e-06, + "acceleration": 1.1647208566500922e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0264820957672782e-05, + "observation_loss": 9.471013072470669e-06, + "chamfer": 7.212712262116838e-06, + "track": 2.258301037727506e-06, + "acceleration": 7.938074872981815e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0078188097395469e-05, + "observation_loss": 9.620158380130306e-06, + "chamfer": 7.285741958185099e-06, + "track": 2.3344168766925577e-06, + "acceleration": 4.580296035783249e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.935504749591928e-06, + "observation_loss": 9.8147838798468e-06, + "chamfer": 7.4112149377469905e-06, + "track": 2.403568714726134e-06, + "acceleration": 1.2072094079940143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0163939805352129e-05, + "observation_loss": 1.0092842785525136e-05, + "chamfer": 7.604737220390234e-06, + "track": 2.4881055651349016e-06, + "acceleration": 7.109729693866029e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0404975000710692e-05, + "observation_loss": 1.0300963367626537e-05, + "chamfer": 7.747422387183178e-06, + "track": 2.553541207817034e-06, + "acceleration": 1.0401137728877075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0481991012056824e-05, + "observation_loss": 1.038125355989905e-05, + "chamfer": 7.7896529546706e-06, + "track": 2.5916003778547747e-06, + "acceleration": 1.0073789269426925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.059302030625986e-05, + "observation_loss": 1.044262717186939e-05, + "chamfer": 7.828810339560732e-06, + "track": 2.6138172870560084e-06, + "acceleration": 1.5039324807730736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0664699402695987e-05, + "observation_loss": 1.051557410391979e-05, + "chamfer": 7.86576492828317e-06, + "track": 2.649808948262944e-06, + "acceleration": 1.491251282459416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.062287628883496e-05, + "observation_loss": 1.0532858141232282e-05, + "chamfer": 7.869472938182298e-06, + "track": 2.6633849756763084e-06, + "acceleration": 9.00179699669934e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0778109754028264e-05, + "observation_loss": 1.0523594937694725e-05, + "chamfer": 7.862236998334993e-06, + "track": 2.6613581667334074e-06, + "acceleration": 2.545149015986681e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0716001270338893e-05, + "observation_loss": 1.0582302820694167e-05, + "chamfer": 7.89454406913137e-06, + "track": 2.6877587515627965e-06, + "acceleration": 1.3369890439207666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0764942999230698e-05, + "observation_loss": 1.0656608537829015e-05, + "chamfer": 7.928776540211402e-06, + "track": 2.7278319976176135e-06, + "acceleration": 1.0833411323574182e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0806435966514982e-05, + "observation_loss": 1.0719102647271939e-05, + "chamfer": 7.96831136540277e-06, + "track": 2.7507912818691693e-06, + "acceleration": 8.733301370966728e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.087517011910677e-05, + "observation_loss": 1.0797581126098521e-05, + "chamfer": 8.013334991119336e-06, + "track": 2.784245680231834e-06, + "acceleration": 7.758900011367587e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.08615913632093e-05, + "observation_loss": 1.0753226888482459e-05, + "chamfer": 7.988255674717948e-06, + "track": 2.764971668511862e-06, + "acceleration": 1.083648015764993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0705429303925484e-05, + "observation_loss": 1.0610535355226602e-05, + "chamfer": 7.89881141827209e-06, + "track": 2.7117237095808377e-06, + "acceleration": 9.489387764460844e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.346531011227398e-06, + "chamfer_mean": 5.541681668811786e-06, + "track_mean": 1.4961933700874397e-06, + "acceleration_mean": 1.3086559012738992e-06, + "observation_score": 7.037875050741604e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4160521339999832 + }, + "score_arrays_file": "pass_scores/pass_end_0351.npz", + "score_arrays_sha256": "d25f357138ff4bad7724ced9e8358224c8e2e9709ea244a13f032ddfaf5857f9" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0352.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0352.json new file mode 100644 index 0000000000000000000000000000000000000000..6719d883bd33df269e9ff656d65063310ab01071 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0352.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33792, + "completed_passes": 352, + "snapshot": "pass_end_0352", + "candidate": true, + "snapshot_arrays_sha256": "3a3ca339e194b0ba8e42840fc28f57c913270d9cbc77c417ce3a10b36d47af16", + "score": 7.033975196672297e-06, + "score_result": { + "score": 7.033975196672297e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.877609404094983e-06, + 3.151432792947162e-06, + 3.219617383365403e-06, + 3.65431606041966e-06, + 4.178539256827207e-06, + 4.415483999764547e-06, + 4.171654836682137e-06, + 3.996406576334266e-06, + 3.92485162592493e-06, + 4.004939000878949e-06, + 4.375016942503862e-06, + 4.820102731173392e-06, + 5.119582510815235e-06, + 5.312677330948645e-06, + 5.304713340592571e-06, + 5.1961656026833225e-06, + 4.842417183681391e-06, + 4.452914254216012e-06, + 4.287773663236294e-06, + 4.2948931877617724e-06, + 4.251644440955715e-06, + 4.083814019395504e-06, + 3.9660685615672264e-06, + 3.999005002697231e-06, + 4.0979075492941774e-06, + 4.3456602725200355e-06, + 4.71204020868754e-06, + 4.863733465754194e-06, + 4.8077381507027894e-06, + 4.8087590585055295e-06, + 5.0567164180392865e-06, + 5.364252501749434e-06, + 5.7514512263878714e-06, + 6.022588877385715e-06, + 6.080348612158559e-06, + 6.037354069121648e-06, + 6.13504926150199e-06, + 6.303777809080202e-06, + 6.052239768905565e-06, + 5.651927949656965e-06, + 5.468451490742154e-06, + 5.658293957822025e-06, + 5.851260993949836e-06, + 6.0247980400163215e-06, + 6.1188789004518185e-06, + 6.201375981618185e-06, + 6.3350689742947e-06, + 6.806016699556494e-06, + 7.390206519630738e-06, + 7.719072527834214e-06, + 7.587839263578644e-06, + 7.378916507150279e-06, + 7.189928510342725e-06, + 7.0195628723013215e-06, + 7.012851256149588e-06, + 7.057908987917472e-06, + 7.138554792618379e-06, + 7.225631179608172e-06, + 7.312722118513193e-06, + 7.4670688263722695e-06, + 7.632639608345926e-06, + 7.82126335252542e-06, + 8.205055564758368e-06, + 8.733342838240787e-06, + 9.346543265564833e-06, + 9.693672836874612e-06, + 9.926611710397992e-06, + 1.0171174835704733e-05, + 1.0294849744241219e-05, + 1.0173632290388923e-05, + 9.867952940112446e-06, + 9.6975654741982e-06, + 9.530045645078644e-06, + 9.265977496397682e-06, + 9.020476682053413e-06, + 9.114938620768953e-06, + 9.287776265409775e-06, + 9.31576232687803e-06, + 9.305308594775852e-06, + 9.320670869783498e-06, + 9.456123734707944e-06, + 9.60552461037878e-06, + 9.800222869671416e-06, + 1.0077020306198392e-05, + 1.0286376891599502e-05, + 1.0367056347604375e-05, + 1.042860731104156e-05, + 1.0500356438569725e-05, + 1.0518490853428375e-05, + 1.0509186722629238e-05, + 1.0567297067609616e-05, + 1.0641450899129268e-05, + 1.0703960469982121e-05, + 1.0782686331367586e-05, + 1.0738256605691276e-05, + 1.0596147149044555e-05 + ] + ], + "episode_mean_losses": [ + 7.033975196672297e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.877609404094983e-06, + "observation_loss": 2.877609404094983e-06, + "chamfer": 2.4404789655818604e-06, + "track": 4.3713049535654136e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.169119711150415e-05, + "observation_loss": 3.151432792947162e-06, + "chamfer": 2.665139618329704e-06, + "track": 4.86293231460877e-07, + "acceleration": 3.853976522805169e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.300484266015701e-05, + "observation_loss": 3.219617383365403e-06, + "chamfer": 2.726776074268855e-06, + "track": 4.928413090965478e-07, + "acceleration": 1.9785225958912633e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.004462865239475e-05, + "observation_loss": 3.65431606041966e-06, + "chamfer": 3.0822818644082872e-06, + "track": 5.720341960113728e-07, + "acceleration": 6.39031304672244e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.6790950111462735e-06, + "observation_loss": 4.178539256827207e-06, + "chamfer": 3.504794221953489e-06, + "track": 6.737449211868807e-07, + "acceleration": 1.5005559816927416e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.499553481058683e-06, + "observation_loss": 4.415483999764547e-06, + "chamfer": 3.6935948628524784e-06, + "track": 7.218892505989061e-07, + "acceleration": 1.0840693676072988e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.780899871548172e-06, + "observation_loss": 4.171654836682137e-06, + "chamfer": 3.4941188005177537e-06, + "track": 6.775359224775457e-07, + "acceleration": 6.092449780226161e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.619360424840124e-06, + "observation_loss": 3.996406576334266e-06, + "chamfer": 3.35301388076914e-06, + "track": 6.43392638721707e-07, + "acceleration": 6.229536779756017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.412025646161055e-06, + "observation_loss": 3.92485162592493e-06, + "chamfer": 3.2980901778500993e-06, + "track": 6.267612775445741e-07, + "acceleration": 4.871741339229629e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.309453743189806e-06, + "observation_loss": 4.004939000878949e-06, + "chamfer": 3.364462827448733e-06, + "track": 6.404761734302156e-07, + "acceleration": 3.0451468546743854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.521018581726821e-06, + "observation_loss": 4.375016942503862e-06, + "chamfer": 3.6667413496616064e-06, + "track": 7.082757065290934e-07, + "acceleration": 1.4600180975321564e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.911989435640862e-06, + "observation_loss": 4.820102731173392e-06, + "chamfer": 4.024524969281629e-06, + "track": 7.955777050483448e-07, + "acceleration": 9.188680394345283e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.223313110036543e-06, + "observation_loss": 5.119582510815235e-06, + "chamfer": 4.271122179488884e-06, + "track": 8.484605018566072e-07, + "acceleration": 1.0373048553447006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.420361958385911e-06, + "observation_loss": 5.312677330948645e-06, + "chamfer": 4.43598992205807e-06, + "track": 8.766872383603186e-07, + "acceleration": 1.0768463454269295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.36610241397284e-06, + "observation_loss": 5.304713340592571e-06, + "chamfer": 4.433522917679511e-06, + "track": 8.71190252382803e-07, + "acceleration": 6.138911601283326e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.3199141802906524e-06, + "observation_loss": 5.1961656026833225e-06, + "chamfer": 4.34475987276528e-06, + "track": 8.514055593877856e-07, + "acceleration": 1.237483644445092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.04487843500101e-06, + "observation_loss": 4.842417183681391e-06, + "chamfer": 4.054263172292849e-06, + "track": 7.88154068231961e-07, + "acceleration": 2.0246103815679817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.788457772519905e-06, + "observation_loss": 4.452914254216012e-06, + "chamfer": 3.7320214687497355e-06, + "track": 7.208926717794384e-07, + "acceleration": 3.355437172558595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.471828560781432e-06, + "observation_loss": 4.287773663236294e-06, + "chamfer": 3.591342874642578e-06, + "track": 6.964307317502971e-07, + "acceleration": 1.8405494017770252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.4304970288067125e-06, + "observation_loss": 4.2948931877617724e-06, + "chamfer": 3.593098426790675e-06, + "track": 7.017948178145161e-07, + "acceleration": 1.3560384104494005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5576857701234985e-06, + "observation_loss": 4.251644440955715e-06, + "chamfer": 3.5558705349103548e-06, + "track": 6.957737923585228e-07, + "acceleration": 3.06041442854621e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.474808520171791e-06, + "observation_loss": 4.083814019395504e-06, + "chamfer": 3.418809001232148e-06, + "track": 6.650051886936126e-07, + "acceleration": 3.9099467130654375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.675275249610422e-06, + "observation_loss": 3.9660685615672264e-06, + "chamfer": 3.3258240819122875e-06, + "track": 6.402444228115201e-07, + "acceleration": 7.09206574356358e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.927333975501824e-06, + "observation_loss": 3.999005002697231e-06, + "chamfer": 3.3481767331977608e-06, + "track": 6.508283263428893e-07, + "acceleration": 9.283290296480118e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.646649813366821e-06, + "observation_loss": 4.0979075492941774e-06, + "chamfer": 3.412731985008577e-06, + "track": 6.851754505987628e-07, + "acceleration": 5.487423209160625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.653772066376405e-06, + "observation_loss": 4.3456602725200355e-06, + "chamfer": 3.598545845306944e-06, + "track": 7.47114597743348e-07, + "acceleration": 3.0811173701295047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.007249910704559e-06, + "observation_loss": 4.71204020868754e-06, + "chamfer": 3.87834415960242e-06, + "track": 8.33695935398282e-07, + "acceleration": 2.9520975886043743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.2296381909400225e-06, + "observation_loss": 4.863733465754194e-06, + "chamfer": 3.995168754045153e-06, + "track": 8.685645980222034e-07, + "acceleration": 3.659049241377943e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.396732376539148e-06, + "observation_loss": 4.8077381507027894e-06, + "chamfer": 3.9488654692831915e-06, + "track": 8.588727382630168e-07, + "acceleration": 5.889942826797778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.250759841146646e-06, + "observation_loss": 4.8087590585055295e-06, + "chamfer": 3.958838988182833e-06, + "track": 8.499199566358584e-07, + "acceleration": 4.4200078264111653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3688308980781585e-06, + "observation_loss": 5.0567164180392865e-06, + "chamfer": 4.164968686382053e-06, + "track": 8.917475611269765e-07, + "acceleration": 3.1211436635203427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6610747378726956e-06, + "observation_loss": 5.364252501749434e-06, + "chamfer": 4.406045718496898e-06, + "track": 9.582070106262108e-07, + "acceleration": 2.968222645449714e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.909889750910224e-06, + "observation_loss": 5.7514512263878714e-06, + "chamfer": 4.717981028079521e-06, + "track": 1.0334700846215128e-06, + "acceleration": 1.5843841083551524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.289637894951738e-06, + "observation_loss": 6.022588877385715e-06, + "chamfer": 4.924287168250885e-06, + "track": 1.0983018228216679e-06, + "acceleration": 2.6704915967457055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.385833785316208e-06, + "observation_loss": 6.080348612158559e-06, + "chamfer": 4.9756963562686e-06, + "track": 1.1046522558899596e-06, + "acceleration": 3.054850594708114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.723841124767205e-06, + "observation_loss": 6.037354069121648e-06, + "chamfer": 4.935210199619178e-06, + "track": 1.1021439831893076e-06, + "acceleration": 6.86487112488976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 8.276636435766704e-06, + "observation_loss": 6.13504926150199e-06, + "chamfer": 4.991204605175881e-06, + "track": 1.143844883699785e-06, + "acceleration": 2.141587174264714e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 9.810794836084824e-06, + "observation_loss": 6.303777809080202e-06, + "chamfer": 5.114946816320298e-06, + "track": 1.1888312201335793e-06, + "acceleration": 3.507017027004622e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.660593266540673e-06, + "observation_loss": 6.052239768905565e-06, + "chamfer": 4.930990144202951e-06, + "track": 1.121249511015776e-06, + "acceleration": 2.608353270261432e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.705015377723612e-06, + "observation_loss": 5.651927949656965e-06, + "chamfer": 4.616662408807315e-06, + "track": 1.0352654271628126e-06, + "acceleration": 2.0530874280666467e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 8.2082524386351e-06, + "observation_loss": 5.468451490742154e-06, + "chamfer": 4.4706021071760915e-06, + "track": 9.978494972529006e-07, + "acceleration": 2.7398011752666207e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.600044566264842e-06, + "observation_loss": 5.658293957822025e-06, + "chamfer": 4.605203230312327e-06, + "track": 1.0530905001360225e-06, + "acceleration": 2.9417503810691414e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.37663913241704e-06, + "observation_loss": 5.851260993949836e-06, + "chamfer": 4.733175956062041e-06, + "track": 1.118085037887795e-06, + "acceleration": 1.525378024780366e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.224736691568978e-06, + "observation_loss": 6.0247980400163215e-06, + "chamfer": 4.8596866690786555e-06, + "track": 1.1651114846245036e-06, + "acceleration": 1.1999384241789812e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 8.229486411437392e-06, + "observation_loss": 6.1188789004518185e-06, + "chamfer": 4.930760042043403e-06, + "track": 1.1881189720952534e-06, + "acceleration": 2.110607056238223e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.2697189352766145e-06, + "observation_loss": 6.201375981618185e-06, + "chamfer": 4.991223249817267e-06, + "track": 1.2101526181140798e-06, + "acceleration": 1.0683428399715922e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.944329470570665e-06, + "observation_loss": 6.3350689742947e-06, + "chamfer": 5.0971980272151995e-06, + "track": 1.2378707197058247e-06, + "acceleration": 6.092604394325463e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.166091108956607e-06, + "observation_loss": 6.806016699556494e-06, + "chamfer": 5.4524416555068456e-06, + "track": 1.3535750440496486e-06, + "acceleration": 3.6007435255669407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.824210115359165e-06, + "observation_loss": 7.390206519630738e-06, + "chamfer": 5.8662753872340545e-06, + "track": 1.5239310187098454e-06, + "acceleration": 4.3400356730671774e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.300579793285578e-06, + "observation_loss": 7.719072527834214e-06, + "chamfer": 6.107317403802881e-06, + "track": 1.6117550103444955e-06, + "acceleration": 5.815073222947831e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.241896466643084e-06, + "observation_loss": 7.587839263578644e-06, + "chamfer": 6.021102308295667e-06, + "track": 1.5667370689698146e-06, + "acceleration": 6.540568051605078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.887311767262872e-06, + "observation_loss": 7.378916507150279e-06, + "chamfer": 5.876048817299306e-06, + "track": 1.5028675761641352e-06, + "acceleration": 5.083954874862684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.381057002930902e-06, + "observation_loss": 7.189928510342725e-06, + "chamfer": 5.732074441766599e-06, + "track": 1.4578542959498009e-06, + "acceleration": 1.9112852100988675e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.11695838617743e-06, + "observation_loss": 7.0195628723013215e-06, + "chamfer": 5.602512828772888e-06, + "track": 1.4170502709021093e-06, + "acceleration": 9.739561335209146e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.107088094926439e-06, + "observation_loss": 7.012851256149588e-06, + "chamfer": 5.59327008886612e-06, + "track": 1.4195812809703057e-06, + "acceleration": 9.423701641253501e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.163123882492073e-06, + "observation_loss": 7.057908987917472e-06, + "chamfer": 5.61685737920925e-06, + "track": 1.4410517223950592e-06, + "acceleration": 1.0521506510485779e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.198927050922066e-06, + "observation_loss": 7.138554792618379e-06, + "chamfer": 5.673124633176485e-06, + "track": 1.4654300457550562e-06, + "acceleration": 6.037244304479827e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.434300187014742e-06, + "observation_loss": 7.225631179608172e-06, + "chamfer": 5.72435965295881e-06, + "track": 1.5012716403361992e-06, + "acceleration": 2.0866905003913416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.873903086874634e-06, + "observation_loss": 7.312722118513193e-06, + "chamfer": 5.791367584606633e-06, + "track": 1.521354306532885e-06, + "acceleration": 5.611806841443467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.639439329272136e-06, + "observation_loss": 7.4670688263722695e-06, + "chamfer": 5.895087269891519e-06, + "track": 1.5719817838544259e-06, + "acceleration": 1.1723702755261911e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.319564924226142e-06, + "observation_loss": 7.632639608345926e-06, + "chamfer": 6.023693458701018e-06, + "track": 1.6089466043922585e-06, + "acceleration": 1.6869257706275675e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.840759619488381e-06, + "observation_loss": 7.82126335252542e-06, + "chamfer": 6.169490461616078e-06, + "track": 1.6517724361619912e-06, + "acceleration": 1.0194966080234735e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.639857696834952e-06, + "observation_loss": 8.205055564758368e-06, + "chamfer": 6.445899543905398e-06, + "track": 1.7591561345398077e-06, + "acceleration": 4.3480187628119893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.047568710229825e-06, + "observation_loss": 8.733342838240787e-06, + "chamfer": 6.80652237861068e-06, + "track": 1.9268209143774584e-06, + "acceleration": 3.142255309285247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.471472367295064e-06, + "observation_loss": 9.346543265564833e-06, + "chamfer": 7.224256933113793e-06, + "track": 2.1222861050773645e-06, + "acceleration": 1.249294854233085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.794916877581272e-06, + "observation_loss": 9.693672836874612e-06, + "chamfer": 7.460653705493314e-06, + "track": 2.2330186766339466e-06, + "acceleration": 1.0124396965238702e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0226876838714816e-05, + "observation_loss": 9.926611710397992e-06, + "chamfer": 7.621223176101921e-06, + "track": 2.3053883069223957e-06, + "acceleration": 3.0026470199118194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0360454325564206e-05, + "observation_loss": 1.0171174835704733e-05, + "chamfer": 7.769051990180742e-06, + "track": 2.402123072897666e-06, + "acceleration": 1.8927993039596913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0422073501104023e-05, + "observation_loss": 1.0294849744241219e-05, + "chamfer": 7.843596904422157e-06, + "track": 2.451253067192738e-06, + "acceleration": 1.2722389897135145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0523711353016552e-05, + "observation_loss": 1.0173632290388923e-05, + "chamfer": 7.759034815535415e-06, + "track": 2.4145972474798327e-06, + "acceleration": 3.5007923315788503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.076908392860787e-05, + "observation_loss": 9.867952940112446e-06, + "chamfer": 7.571476999146398e-06, + "track": 2.296475713592372e-06, + "acceleration": 9.011309884954244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0286892575095408e-05, + "observation_loss": 9.6975654741982e-06, + "chamfer": 7.451203600794543e-06, + "track": 2.246362328151008e-06, + "acceleration": 5.89327441957721e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.771221812115982e-06, + "observation_loss": 9.530045645078644e-06, + "chamfer": 7.33170645617065e-06, + "track": 2.1983394162816694e-06, + "acceleration": 2.41175968085372e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.519441846350674e-06, + "observation_loss": 9.265977496397682e-06, + "chamfer": 7.137301054171985e-06, + "track": 2.128676669599372e-06, + "acceleration": 2.534644067964109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.474341823079158e-06, + "observation_loss": 9.020476682053413e-06, + "chamfer": 6.9656712184951175e-06, + "track": 2.054805690931971e-06, + "acceleration": 4.5386522629087267e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.1581319995457307e-05, + "observation_loss": 9.114938620768953e-06, + "chamfer": 7.0134906309249345e-06, + "track": 2.101448217217694e-06, + "acceleration": 2.466381147314678e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1828221431642305e-05, + "observation_loss": 9.287776265409775e-06, + "chamfer": 7.112765615602257e-06, + "track": 2.175010422433843e-06, + "acceleration": 2.5404453936062055e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1653132787614595e-05, + "observation_loss": 9.31576232687803e-06, + "chamfer": 7.1487866080133244e-06, + "track": 2.16697549149103e-06, + "acceleration": 2.33737023336289e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0904727787419688e-05, + "observation_loss": 9.305308594775852e-06, + "chamfer": 7.116529104678193e-06, + "track": 2.1887792627239833e-06, + "acceleration": 1.5994189652701607e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0499617928871885e-05, + "observation_loss": 9.320670869783498e-06, + "chamfer": 7.118100711522857e-06, + "track": 2.2025697035132907e-06, + "acceleration": 1.1789475138357375e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0252960237266961e-05, + "observation_loss": 9.456123734707944e-06, + "chamfer": 7.2024736255116295e-06, + "track": 2.2536505639436655e-06, + "acceleration": 7.968363888721797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0059035957965534e-05, + "observation_loss": 9.60552461037878e-06, + "chamfer": 7.275873485923512e-06, + "track": 2.3296515792026184e-06, + "acceleration": 4.535112623216264e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.918857358570676e-06, + "observation_loss": 9.800222869671416e-06, + "chamfer": 7.401284619845683e-06, + "track": 2.3989382498257328e-06, + "acceleration": 1.186347660109277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0149256922886707e-05, + "observation_loss": 1.0077020306198392e-05, + "chamfer": 7.594063390570227e-06, + "track": 2.4829566882544896e-06, + "acceleration": 7.223643905263089e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0389586350356694e-05, + "observation_loss": 1.0286376891599502e-05, + "chamfer": 7.737706255284138e-06, + "track": 2.5486706363153644e-06, + "acceleration": 1.0320971455257677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0465831110195722e-05, + "observation_loss": 1.0367056347604375e-05, + "chamfer": 7.780216947139706e-06, + "track": 2.5868396278383443e-06, + "acceleration": 9.877446416339808e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0578909495961852e-05, + "observation_loss": 1.042860731104156e-05, + "chamfer": 7.819505299266893e-06, + "track": 2.609102239148342e-06, + "acceleration": 1.5030219913114706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0649832802300807e-05, + "observation_loss": 1.0500356438569725e-05, + "chamfer": 7.855744115659036e-06, + "track": 2.6446127776580397e-06, + "acceleration": 1.494762358333901e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0605175702949055e-05, + "observation_loss": 1.0518490853428375e-05, + "chamfer": 7.860077857912984e-06, + "track": 2.6584127681417158e-06, + "acceleration": 8.668524031918423e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0757769814517815e-05, + "observation_loss": 1.0509186722629238e-05, + "chamfer": 7.852946509956382e-06, + "track": 2.6562399852991803e-06, + "acceleration": 2.485835182142182e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0697074685594998e-05, + "observation_loss": 1.0567297067609616e-05, + "chamfer": 7.884876140451524e-06, + "track": 2.6824211545317667e-06, + "acceleration": 1.297778311482034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0749333341664169e-05, + "observation_loss": 1.0641450899129268e-05, + "chamfer": 7.919033123471308e-06, + "track": 2.7224180030316347e-06, + "acceleration": 1.0788278359541437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0790852684294805e-05, + "observation_loss": 1.0703960469982121e-05, + "chamfer": 7.95841060607927e-06, + "track": 2.7455496365291765e-06, + "acceleration": 8.689237063208566e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0859635949600488e-05, + "observation_loss": 1.0782686331367586e-05, + "chamfer": 8.003686161828227e-06, + "track": 2.779000396913034e-06, + "acceleration": 7.694917769640597e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0846047189261299e-05, + "observation_loss": 1.0738256605691276e-05, + "chamfer": 7.978497706062626e-06, + "track": 2.7597588996286504e-06, + "acceleration": 1.0779054093745799e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0691142961150035e-05, + "observation_loss": 1.0596147149044555e-05, + "chamfer": 7.889530024840496e-06, + "track": 2.7066173515777336e-06, + "acceleration": 9.499581921090794e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.339726415821739e-06, + "chamfer_mean": 5.538889344810134e-06, + "track_mean": 1.4950858684414925e-06, + "acceleration_mean": 1.305751252012044e-06, + "observation_score": 7.033975196672297e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4149605719994724 + }, + "score_arrays_file": "pass_scores/pass_end_0352.npz", + "score_arrays_sha256": "c7ed4fb95788c7f73cc69df9c83ae7e2e29295b7caaf3ec5956b474dceb893da" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0353.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0353.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb9518aee660f487801a9ac6bfeeae36d84db1a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0353.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33888, + "completed_passes": 353, + "snapshot": "pass_end_0353", + "candidate": true, + "snapshot_arrays_sha256": "a1ba01137cf7c0a5e354ee44e8a490700615e6044723f538b855b8a35968e64e", + "score": 7.028265261036874e-06, + "score_result": { + "score": 7.028265261036874e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.877987071769894e-06, + 3.151232249365421e-06, + 3.218392976123141e-06, + 3.652962277556071e-06, + 4.176794391241856e-06, + 4.414001523400657e-06, + 4.170404281467199e-06, + 3.994735379819758e-06, + 3.923100848624017e-06, + 4.002694367954973e-06, + 4.372365310700843e-06, + 4.8164893087232485e-06, + 5.115244675835129e-06, + 5.3076455515110865e-06, + 5.299416443449445e-06, + 5.190840965951793e-06, + 4.837446795136202e-06, + 4.447945684660226e-06, + 4.284002898202743e-06, + 4.2905749069177546e-06, + 4.246202934155008e-06, + 4.0757781789579894e-06, + 3.958451088692527e-06, + 3.994828148279339e-06, + 4.098189037904376e-06, + 4.349334176367847e-06, + 4.7147341319941916e-06, + 4.862765308644157e-06, + 4.805252501682844e-06, + 4.809089205082273e-06, + 5.059629984316416e-06, + 5.369702194002457e-06, + 5.7597899285610765e-06, + 6.033049430698156e-06, + 6.088723694119835e-06, + 6.04206979915034e-06, + 6.132584530860186e-06, + 6.294141257967567e-06, + 6.043887879059184e-06, + 5.655300356011139e-06, + 5.467042683449108e-06, + 5.654099368257448e-06, + 5.845421583217103e-06, + 6.018305612087715e-06, + 6.115885298640933e-06, + 6.197829861775972e-06, + 6.329404641292058e-06, + 6.79806316838949e-06, + 7.38196922611678e-06, + 7.711622856731992e-06, + 7.582842044939753e-06, + 7.3724113462958485e-06, + 7.18182081982377e-06, + 7.01097997080069e-06, + 7.0054998104751576e-06, + 7.050617114146007e-06, + 7.131680831662379e-06, + 7.219990038720425e-06, + 7.307138730539009e-06, + 7.4620302257244475e-06, + 7.62674244469963e-06, + 7.815152457624208e-06, + 8.19800334284082e-06, + 8.726137821213342e-06, + 9.33921091927914e-06, + 9.686443263490219e-06, + 9.918970135913696e-06, + 1.0163374099647626e-05, + 1.0286354154231958e-05, + 1.0163387742068153e-05, + 9.854028576228302e-06, + 9.680457878857851e-06, + 9.512603355688043e-06, + 9.247938578482717e-06, + 9.001769285532646e-06, + 9.100548595597502e-06, + 9.273417163058184e-06, + 9.304309969593305e-06, + 9.29336511035217e-06, + 9.308794687967747e-06, + 9.443536328035407e-06, + 9.593499271431938e-06, + 9.789122486836277e-06, + 1.0065879905596375e-05, + 1.0276735338266008e-05, + 1.0357549399486743e-05, + 1.0420500075269956e-05, + 1.0490814020158723e-05, + 1.0510128959140275e-05, + 1.049963066179771e-05, + 1.0558191206655465e-05, + 1.0632681551214773e-05, + 1.0695835953811184e-05, + 1.0775376722449437e-05, + 1.07312407635618e-05, + 1.05892959254561e-05 + ] + ], + "episode_mean_losses": [ + 7.028265261036874e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.877987071769894e-06, + "observation_loss": 2.877987071769894e-06, + "chamfer": 2.4407822820649017e-06, + "track": 4.3720487497012073e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.17016344727017e-05, + "observation_loss": 3.151232249365421e-06, + "chamfer": 2.664966359589016e-06, + "track": 4.862657760895672e-07, + "acceleration": 3.855040267808363e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.300482265127357e-05, + "observation_loss": 3.218392976123141e-06, + "chamfer": 2.725754711718764e-06, + "track": 4.926383212477958e-07, + "acceleration": 1.978643012989778e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0043902875622734e-05, + "observation_loss": 3.652962277556071e-06, + "chamfer": 3.081152726736036e-06, + "track": 5.718094939766161e-07, + "acceleration": 6.390941052814014e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.6787143876135815e-06, + "observation_loss": 4.176794391241856e-06, + "chamfer": 3.5033531275985297e-06, + "track": 6.734411499564885e-07, + "acceleration": 1.5019199963717256e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.497314759850269e-06, + "observation_loss": 4.414001523400657e-06, + "chamfer": 3.6923802326782607e-06, + "track": 7.216214044092339e-07, + "acceleration": 1.0833132364496123e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.7780381464690436e-06, + "observation_loss": 4.170404281467199e-06, + "chamfer": 3.4930628771689953e-06, + "track": 6.773416316718794e-07, + "acceleration": 6.076337513150065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6193595153454226e-06, + "observation_loss": 3.994735379819758e-06, + "chamfer": 3.3515993891342077e-06, + "track": 6.431359906855505e-07, + "acceleration": 6.246240786822455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4102498577558435e-06, + "observation_loss": 3.923100848624017e-06, + "chamfer": 3.2965983791655162e-06, + "track": 6.265022989282443e-07, + "acceleration": 4.871488954449887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.307099516154267e-06, + "observation_loss": 4.002694367954973e-06, + "chamfer": 3.3625799460423877e-06, + "track": 6.401144219125854e-07, + "acceleration": 3.044052903078409e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.51855066785356e-06, + "observation_loss": 4.372365310700843e-06, + "chamfer": 3.6645642467192374e-06, + "track": 7.078011776684434e-07, + "acceleration": 1.4618520083331532e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.908472874376457e-06, + "observation_loss": 4.8164893087232485e-06, + "chamfer": 4.021589575131657e-06, + "track": 7.948996767481731e-07, + "acceleration": 9.198334538496056e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.2190280257491395e-06, + "observation_loss": 5.115244675835129e-06, + "chamfer": 4.267620170139708e-06, + "track": 8.47624619382259e-07, + "acceleration": 1.0378313675118989e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.415260147856316e-06, + "observation_loss": 5.3076455515110865e-06, + "chamfer": 4.4319185690255836e-06, + "track": 8.757272098591784e-07, + "acceleration": 1.0761477398091301e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.360965587897226e-06, + "observation_loss": 5.299416443449445e-06, + "chamfer": 4.4292232814768795e-06, + "track": 8.70192991442309e-07, + "acceleration": 6.154908760436228e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.314676855050493e-06, + "observation_loss": 5.190840965951793e-06, + "chamfer": 4.3404334064689465e-06, + "track": 8.504073889525898e-07, + "acceleration": 1.2383605962895672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.039819370722398e-06, + "observation_loss": 4.837446795136202e-06, + "chamfer": 4.0502122828911524e-06, + "track": 7.872344554016308e-07, + "acceleration": 2.0237267506217904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.784481916431105e-06, + "observation_loss": 4.447945684660226e-06, + "chamfer": 3.7279191928973887e-06, + "track": 7.200263780759997e-07, + "acceleration": 3.365362886142975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.469163741305238e-06, + "observation_loss": 4.284002898202743e-06, + "chamfer": 3.588198751458549e-06, + "track": 6.95804317274451e-07, + "acceleration": 1.8516099942189612e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.424701728567015e-06, + "observation_loss": 4.2905749069177546e-06, + "chamfer": 3.589486823329935e-06, + "track": 7.010882541180763e-07, + "acceleration": 1.341267221732778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.552748578134924e-06, + "observation_loss": 4.246202934155008e-06, + "chamfer": 3.551358304321184e-06, + "track": 6.94844629833824e-07, + "acceleration": 3.065458713535918e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.470428393688053e-06, + "observation_loss": 4.0757781789579894e-06, + "chamfer": 3.4121342196158366e-06, + "track": 6.63643902498734e-07, + "acceleration": 3.9465029999519174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.675449417845812e-06, + "observation_loss": 3.958451088692527e-06, + "chamfer": 3.3194353363796836e-06, + "track": 6.390156954694248e-07, + "acceleration": 7.169984428401222e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.9162667892233e-06, + "observation_loss": 3.994828148279339e-06, + "chamfer": 3.3445769531681435e-06, + "track": 6.50251422484871e-07, + "acceleration": 9.214386977873801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.628260739991674e-06, + "observation_loss": 4.098189037904376e-06, + "chamfer": 3.412860223761527e-06, + "track": 6.853288141428493e-07, + "acceleration": 5.300716452438792e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.657150839193491e-06, + "observation_loss": 4.349334176367847e-06, + "chamfer": 3.601348225856782e-06, + "track": 7.47986064197903e-07, + "acceleration": 3.0781686177761003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.018108822696377e-06, + "observation_loss": 4.7147341319941916e-06, + "chamfer": 3.880513304466149e-06, + "track": 8.342208275280427e-07, + "acceleration": 3.033746622804756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.243952728051227e-06, + "observation_loss": 4.862765308644157e-06, + "chamfer": 3.994688086095266e-06, + "track": 8.68077165705472e-07, + "acceleration": 3.8118747625048854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.4021029427531175e-06, + "observation_loss": 4.805252501682844e-06, + "chamfer": 3.946868673665449e-06, + "track": 8.583839417042327e-07, + "acceleration": 5.968502705400169e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.2435443649301305e-06, + "observation_loss": 4.809089205082273e-06, + "chamfer": 3.9589226616953965e-06, + "track": 8.501666002302954e-07, + "acceleration": 4.34455330378114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.36635388925788e-06, + "observation_loss": 5.059629984316416e-06, + "chamfer": 4.167121915088501e-06, + "track": 8.925080123844964e-07, + "acceleration": 3.067237628329167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.652927029586863e-06, + "observation_loss": 5.369702194002457e-06, + "chamfer": 4.409956090967171e-06, + "track": 9.597459893484483e-07, + "acceleration": 2.832246366324398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.9013500504079275e-06, + "observation_loss": 5.7597899285610765e-06, + "chamfer": 4.724121481558541e-06, + "track": 1.0356685606893734e-06, + "acceleration": 1.4156030658796226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.265667252591811e-06, + "observation_loss": 6.033049430698156e-06, + "chamfer": 4.932001957058674e-06, + "track": 1.1010474736394826e-06, + "acceleration": 2.3261777926109062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.3341003624373116e-06, + "observation_loss": 6.088723694119835e-06, + "chamfer": 4.981951406080043e-06, + "track": 1.1067721743529546e-06, + "acceleration": 2.45376782004314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.540035883517703e-06, + "observation_loss": 6.04206979915034e-06, + "chamfer": 4.939073733112309e-06, + "track": 1.1029961797248689e-06, + "acceleration": 4.979659706805251e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.773940524202771e-06, + "observation_loss": 6.132584530860186e-06, + "chamfer": 4.990472007193603e-06, + "track": 1.1421126373534207e-06, + "acceleration": 1.6413557659689104e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 9.413186489837244e-06, + "observation_loss": 6.294141257967567e-06, + "chamfer": 5.108840014145244e-06, + "track": 1.1853013575091609e-06, + "acceleration": 3.1190450044960016e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.584501301811542e-06, + "observation_loss": 6.043887879059184e-06, + "chamfer": 4.92551589559298e-06, + "track": 1.1183722108398797e-06, + "acceleration": 2.540613422752358e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.576403731945902e-06, + "observation_loss": 5.655300356011139e-06, + "chamfer": 4.619902483682381e-06, + "track": 1.035397986015596e-06, + "acceleration": 1.921103375934763e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 8.021546818781644e-06, + "observation_loss": 5.467042683449108e-06, + "chamfer": 4.46977537649218e-06, + "track": 9.972670795832528e-07, + "acceleration": 2.554504590079887e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.658025762997568e-06, + "observation_loss": 5.654099368257448e-06, + "chamfer": 4.601910404744558e-06, + "track": 1.0521888498260523e-06, + "acceleration": 3.003926167366444e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.5433345045894384e-06, + "observation_loss": 5.845421583217103e-06, + "chamfer": 4.728462499770103e-06, + "track": 1.1169593108206755e-06, + "acceleration": 1.6979128076854977e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.11355733074015e-06, + "observation_loss": 6.018305612087715e-06, + "chamfer": 4.854698545386782e-06, + "track": 1.1636070667009335e-06, + "acceleration": 1.09525194602611e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 8.122647159325425e-06, + "observation_loss": 6.115885298640933e-06, + "chamfer": 4.9285463319392875e-06, + "track": 1.1873389667016454e-06, + "acceleration": 2.0067618606844917e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.392388397420291e-06, + "observation_loss": 6.197829861775972e-06, + "chamfer": 4.988519322068896e-06, + "track": 1.209310426020238e-06, + "acceleration": 1.1945587630179944e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 6.996536740189185e-06, + "observation_loss": 6.329404641292058e-06, + "chamfer": 5.092732862976845e-06, + "track": 1.2366716646283749e-06, + "acceleration": 6.67132269427384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.162802376114996e-06, + "observation_loss": 6.79806316838949e-06, + "chamfer": 5.446243903861614e-06, + "track": 1.3518193782147137e-06, + "acceleration": 3.6473926456892514e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.793579243298154e-06, + "observation_loss": 7.38196922611678e-06, + "chamfer": 5.860345936525846e-06, + "track": 1.5216232895909343e-06, + "acceleration": 4.1161032982017787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.309364602610003e-06, + "observation_loss": 7.711622856731992e-06, + "chamfer": 6.102097358962055e-06, + "track": 1.609525497769937e-06, + "acceleration": 5.977419732516864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.244071068475023e-06, + "observation_loss": 7.582842044939753e-06, + "chamfer": 6.017326541041257e-06, + "track": 1.5655155038984958e-06, + "acceleration": 6.612288530050137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.932985681691207e-06, + "observation_loss": 7.3724113462958485e-06, + "chamfer": 5.8710656958282925e-06, + "track": 1.5013458778412314e-06, + "acceleration": 5.605745059256151e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.3614569373603445e-06, + "observation_loss": 7.18182081982377e-06, + "chamfer": 5.725994469685247e-06, + "track": 1.4558263501385227e-06, + "acceleration": 1.7963600384973688e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.132136943255318e-06, + "observation_loss": 7.01097997080069e-06, + "chamfer": 5.595965376414824e-06, + "track": 1.4150148217595415e-06, + "acceleration": 1.2115677350266196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.094492957548937e-06, + "observation_loss": 7.0054998104751576e-06, + "chamfer": 5.58755527890753e-06, + "track": 1.4179444178807898e-06, + "acceleration": 8.899301207065946e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.159346296248259e-06, + "observation_loss": 7.050617114146007e-06, + "chamfer": 5.611193500953959e-06, + "track": 1.439423613192048e-06, + "acceleration": 1.0872917499682444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.193279543571407e-06, + "observation_loss": 7.131680831662379e-06, + "chamfer": 5.667737241310533e-06, + "track": 1.4639437040386838e-06, + "acceleration": 6.159876164701927e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.423633178404998e-06, + "observation_loss": 7.219990038720425e-06, + "chamfer": 5.719928140024422e-06, + "track": 1.500061671322328e-06, + "acceleration": 2.036429265217521e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.866881787776947e-06, + "observation_loss": 7.307138730539009e-06, + "chamfer": 5.7869219745043665e-06, + "track": 1.5202168697214802e-06, + "acceleration": 5.597433982984512e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.633276593172923e-06, + "observation_loss": 7.4620302257244475e-06, + "chamfer": 5.89114779359079e-06, + "track": 1.5708823184468201e-06, + "acceleration": 1.171246481135313e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.318150659964886e-06, + "observation_loss": 7.62674244469963e-06, + "chamfer": 6.019008651492186e-06, + "track": 1.607733906894282e-06, + "acceleration": 1.6914082152652554e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.838560461299494e-06, + "observation_loss": 7.815152457624208e-06, + "chamfer": 6.164721071399981e-06, + "track": 1.6504311588505516e-06, + "acceleration": 1.0234083447357989e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.634428013465367e-06, + "observation_loss": 8.19800334284082e-06, + "chamfer": 6.440363449655706e-06, + "track": 1.7576394384377636e-06, + "acceleration": 4.3642478431138443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.040893019118812e-06, + "observation_loss": 8.726137821213342e-06, + "chamfer": 6.800919436500408e-06, + "track": 1.9252179299655836e-06, + "acceleration": 3.147555673876923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.463972673984244e-06, + "observation_loss": 9.33921091927914e-06, + "chamfer": 7.218664904939942e-06, + "track": 2.120545786965522e-06, + "acceleration": 1.2476181154852384e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.788019269763026e-06, + "observation_loss": 9.686443263490219e-06, + "chamfer": 7.4552494879753795e-06, + "track": 2.2311935481411638e-06, + "acceleration": 1.0157582153169642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0219790055998601e-05, + "observation_loss": 9.918970135913696e-06, + "chamfer": 7.615503363922471e-06, + "track": 2.303466771991225e-06, + "acceleration": 3.0081980639806716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0353471225243993e-05, + "observation_loss": 1.0163374099647626e-05, + "chamfer": 7.763307621644344e-06, + "track": 2.4000662506296067e-06, + "acceleration": 1.900972961266234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.04132377600763e-05, + "observation_loss": 1.0286354154231958e-05, + "chamfer": 7.837393241061363e-06, + "track": 2.44896114054427e-06, + "acceleration": 1.2688356321177707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.051163962983992e-05, + "observation_loss": 1.0163387742068153e-05, + "chamfer": 7.751596967864316e-06, + "track": 2.4117905468301615e-06, + "acceleration": 3.4825180250663834e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0746867701527663e-05, + "observation_loss": 9.854028576228302e-06, + "chamfer": 7.561460279248422e-06, + "track": 2.29256829697988e-06, + "acceleration": 8.928390684559417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.026405516313389e-05, + "observation_loss": 9.680457878857851e-06, + "chamfer": 7.4389595283719245e-06, + "track": 2.2414983504859265e-06, + "acceleration": 5.83597454806295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.750940989761148e-06, + "observation_loss": 9.512603355688043e-06, + "chamfer": 7.319401447603013e-06, + "track": 2.193202135458705e-06, + "acceleration": 2.3833783302507072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.499165571469348e-06, + "observation_loss": 9.247938578482717e-06, + "chamfer": 7.12447354089818e-06, + "track": 2.123465264958213e-06, + "acceleration": 2.512267656129552e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.433723789697979e-06, + "observation_loss": 9.001769285532646e-06, + "chamfer": 6.952000603632769e-06, + "track": 2.049768454526202e-06, + "acceleration": 4.3195484522584593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.13937157948385e-05, + "observation_loss": 9.100548595597502e-06, + "chamfer": 7.003755399637157e-06, + "track": 2.0967929685866693e-06, + "acceleration": 2.2931671992409974e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1822216038126498e-05, + "observation_loss": 9.273417163058184e-06, + "chamfer": 7.102087693056092e-06, + "track": 2.1713294700020924e-06, + "acceleration": 2.5487988750683144e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1710885701177176e-05, + "observation_loss": 9.304309969593305e-06, + "chamfer": 7.140885372791672e-06, + "track": 2.1634248241753085e-06, + "acceleration": 2.4065759589575464e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.089139095711289e-05, + "observation_loss": 9.29336511035217e-06, + "chamfer": 7.108046247594757e-06, + "track": 2.1853188627574127e-06, + "acceleration": 1.5980256193870446e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.049919956130907e-05, + "observation_loss": 9.308794687967747e-06, + "chamfer": 7.1096824285632465e-06, + "track": 2.1991124867781764e-06, + "acceleration": 1.190404418593971e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0243494216410909e-05, + "observation_loss": 9.443536328035407e-06, + "chamfer": 7.193723831733223e-06, + "track": 2.249812723675859e-06, + "acceleration": 7.999578315320832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0046399438579101e-05, + "observation_loss": 9.593499271431938e-06, + "chamfer": 7.267774890351575e-06, + "track": 2.3257241537066875e-06, + "acceleration": 4.528997692432313e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.907151252264157e-06, + "observation_loss": 9.789122486836277e-06, + "chamfer": 7.393653959297808e-06, + "track": 2.39546898228582e-06, + "acceleration": 1.1802843857822154e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0139185178559273e-05, + "observation_loss": 1.0065879905596375e-05, + "chamfer": 7.586712399643147e-06, + "track": 2.4791670512058772e-06, + "acceleration": 7.330498874580371e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.038269965647487e-05, + "observation_loss": 1.0276735338266008e-05, + "chamfer": 7.731263394816779e-06, + "track": 2.545471488701878e-06, + "acceleration": 1.05963998464631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0459216355229728e-05, + "observation_loss": 1.0357549399486743e-05, + "chamfer": 7.77411969465902e-06, + "track": 2.583429704827722e-06, + "acceleration": 1.0166682784529257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0572379324003123e-05, + "observation_loss": 1.0420500075269956e-05, + "chamfer": 7.814130185579415e-06, + "track": 2.606370117064216e-06, + "acceleration": 1.5187949031769676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0640570508257952e-05, + "observation_loss": 1.0490814020158723e-05, + "chamfer": 7.849696885386948e-06, + "track": 2.6411171347717755e-06, + "acceleration": 1.4975633177982672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0596705578791443e-05, + "observation_loss": 1.0510128959140275e-05, + "chamfer": 7.854908290028106e-06, + "track": 2.6552208964858437e-06, + "acceleration": 8.657665517830537e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0748151908046566e-05, + "observation_loss": 1.049963066179771e-05, + "chamfer": 7.846840162528679e-06, + "track": 2.652790954016382e-06, + "acceleration": 2.485209620317619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0686961104511283e-05, + "observation_loss": 1.0558191206655465e-05, + "chamfer": 7.8791690611979e-06, + "track": 2.679021690710215e-06, + "acceleration": 1.287695425844504e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0740971447376069e-05, + "observation_loss": 1.0632681551214773e-05, + "chamfer": 7.913430636108387e-06, + "track": 2.719250915106386e-06, + "acceleration": 1.0828991747757755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0782910976558924e-05, + "observation_loss": 1.0695835953811184e-05, + "chamfer": 7.953144631756004e-06, + "track": 2.7426917768025305e-06, + "acceleration": 8.707490195547507e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0852697414520662e-05, + "observation_loss": 1.0775376722449437e-05, + "chamfer": 7.99907047621673e-06, + "track": 2.7763060188590316e-06, + "acceleration": 7.73204220649859e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0839588867384009e-05, + "observation_loss": 1.07312407635618e-05, + "chamfer": 7.974109394126572e-06, + "track": 2.757131142061553e-06, + "acceleration": 1.0834825303618345e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0684765584301203e-05, + "observation_loss": 1.05892959254561e-05, + "chamfer": 7.885320883360691e-06, + "track": 2.7039754968427587e-06, + "acceleration": 9.546977963736936e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.319419177856465e-06, + "chamfer_mean": 5.534768514318482e-06, + "track_mean": 1.4934967499750467e-06, + "acceleration_mean": 1.2911539248872117e-06, + "observation_score": 7.028265261036874e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4151900309989287 + }, + "score_arrays_file": "pass_scores/pass_end_0353.npz", + "score_arrays_sha256": "784c009a512967a3bc007a1cfba94474343d66247236b4433aa1b12e78f36f16" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0354.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0354.json new file mode 100644 index 0000000000000000000000000000000000000000..6d243d6154599c40c1b925b3d1fecd38209e3a3d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0354.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 33984, + "completed_passes": 354, + "snapshot": "pass_end_0354", + "candidate": true, + "snapshot_arrays_sha256": "35590804deccea6fa7bd48207543948c6660aa5327d96875552a6b818f644bf5", + "score": 7.0243798996709e-06, + "score_result": { + "score": 7.0243798996709e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.878329269151436e-06, + 3.151129703837796e-06, + 3.2173411455005407e-06, + 3.6519227251119446e-06, + 4.175592039246112e-06, + 4.413214810483623e-06, + 4.169821750110714e-06, + 3.993425707449205e-06, + 3.92110678149038e-06, + 4.000019089289708e-06, + 4.369233010947937e-06, + 4.812112365470966e-06, + 5.110335223434959e-06, + 5.3021663006802555e-06, + 5.293821686791489e-06, + 5.1854035518772434e-06, + 4.832398190046661e-06, + 4.4429411900637206e-06, + 4.279937456885818e-06, + 4.28639668825781e-06, + 4.240997895976761e-06, + 4.068599992024247e-06, + 3.9505794120486826e-06, + 3.989941887994064e-06, + 4.09749827667838e-06, + 4.352474661573069e-06, + 4.716418970929226e-06, + 4.8610727390041575e-06, + 4.802307103091152e-06, + 4.80913377032266e-06, + 5.062419404566754e-06, + 5.375674390961649e-06, + 5.768681148765609e-06, + 6.042854238330619e-06, + 6.095719072618522e-06, + 6.047413535270607e-06, + 6.129377197794383e-06, + 6.2824442466080654e-06, + 6.031028078723466e-06, + 5.653366315527819e-06, + 5.464266450871946e-06, + 5.649521426676074e-06, + 5.840163794346154e-06, + 6.013335223542526e-06, + 6.114205007179407e-06, + 6.195057721924968e-06, + 6.324664809653768e-06, + 6.792060048610438e-06, + 7.3767209869401995e-06, + 7.708485100010876e-06, + 7.581303634651704e-06, + 7.369452760030981e-06, + 7.177363386290381e-06, + 7.006416581134545e-06, + 7.002641723374836e-06, + 7.04825379216345e-06, + 7.129886853363132e-06, + 7.219070084829582e-06, + 7.306847692234442e-06, + 7.462561370630283e-06, + 7.627314516867045e-06, + 7.816473953425884e-06, + 8.19960860098945e-06, + 8.728758984943852e-06, + 9.342285920865834e-06, + 9.689779290056322e-06, + 9.92198329186067e-06, + 1.016650003293762e-05, + 1.0289677447872236e-05, + 1.016439182421891e-05, + 9.851484719547443e-06, + 9.674827197159175e-06, + 9.506082278676331e-06, + 9.240596227755304e-06, + 8.993092706077732e-06, + 9.095600034925155e-06, + 9.266220331483055e-06, + 9.297467840951867e-06, + 9.284733096137643e-06, + 9.298164513893425e-06, + 9.432030310563277e-06, + 9.581462109053973e-06, + 9.776964361662976e-06, + 1.005262674880214e-05, + 1.0264349839417264e-05, + 1.034533852362074e-05, + 1.040904226101702e-05, + 1.0478224794496782e-05, + 1.0498456504137721e-05, + 1.0487532563274726e-05, + 1.0546142220846377e-05, + 1.0620238754199818e-05, + 1.0683911568776239e-05, + 1.0763872523966711e-05, + 1.071988299372606e-05, + 1.0578422006801702e-05 + ] + ], + "episode_mean_losses": [ + 7.0243798996709e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.878329269151436e-06, + "observation_loss": 2.878329269151436e-06, + "chamfer": 2.441055357849109e-06, + "track": 4.372738544589083e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1712195525178686e-05, + "observation_loss": 3.151129703837796e-06, + "chamfer": 2.6648763196135405e-06, + "track": 4.862533842242556e-07, + "acceleration": 3.8561065593967214e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3007005438557826e-05, + "observation_loss": 3.2173411455005407e-06, + "chamfer": 2.724875912463176e-06, + "track": 4.924653467242024e-07, + "acceleration": 1.9789664293057285e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0045805538538843e-05, + "observation_loss": 3.6519227251119446e-06, + "chamfer": 3.080280521317036e-06, + "track": 5.71642090108071e-07, + "acceleration": 6.393882813426899e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.679512014467036e-06, + "observation_loss": 4.175592039246112e-06, + "chamfer": 3.502339723127079e-06, + "track": 6.73252259275614e-07, + "acceleration": 1.503920088907762e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.496927315107314e-06, + "observation_loss": 4.413214810483623e-06, + "chamfer": 3.691699703267659e-06, + "track": 7.21515220902802e-07, + "acceleration": 1.083712390936853e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.775788511324208e-06, + "observation_loss": 4.169821750110714e-06, + "chamfer": 3.492529685900081e-06, + "track": 6.772921210540517e-07, + "acceleration": 6.059669885871699e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6192276386136655e-06, + "observation_loss": 3.993425707449205e-06, + "chamfer": 3.3504645671200706e-06, + "track": 6.429613108593912e-07, + "acceleration": 6.258019880078791e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.408148470247397e-06, + "observation_loss": 3.92110678149038e-06, + "chamfer": 3.294900807304657e-06, + "track": 6.262058604988852e-07, + "acceleration": 4.870418592872738e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.304239155317191e-06, + "observation_loss": 4.000019089289708e-06, + "chamfer": 3.3603391784708947e-06, + "track": 6.396799676622322e-07, + "acceleration": 3.0422023655773955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.515466571319848e-06, + "observation_loss": 4.369233010947937e-06, + "chamfer": 3.6619921957026236e-06, + "track": 7.072408720887324e-07, + "acceleration": 1.4623356037191115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.9042178034142125e-06, + "observation_loss": 4.812112365470966e-06, + "chamfer": 4.01803617933183e-06, + "track": 7.940762998259743e-07, + "acceleration": 9.210538820525471e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.214150405663531e-06, + "observation_loss": 5.110335223434959e-06, + "chamfer": 4.263661594450241e-06, + "track": 8.466736858281365e-07, + "acceleration": 1.0381504722545287e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.410058292909525e-06, + "observation_loss": 5.3021663006802555e-06, + "chamfer": 4.427475232660072e-06, + "track": 8.74690897489927e-07, + "acceleration": 1.078917932773038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.355274424800882e-06, + "observation_loss": 5.293821686791489e-06, + "chamfer": 4.424670805747155e-06, + "track": 8.691507105140772e-07, + "acceleration": 6.145274511482057e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.309442258294439e-06, + "observation_loss": 5.1854035518772434e-06, + "chamfer": 4.3360073505027685e-06, + "track": 8.49396144531056e-07, + "acceleration": 1.240386069412125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.035161393607268e-06, + "observation_loss": 4.832398190046661e-06, + "chamfer": 4.0460904529027175e-06, + "track": 7.863075097702676e-07, + "acceleration": 2.0276330303659051e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.780995823239209e-06, + "observation_loss": 4.4429411900637206e-06, + "chamfer": 3.7237834931147518e-06, + "track": 7.191575264187122e-07, + "acceleration": 3.380547468623263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.466163318284089e-06, + "observation_loss": 4.279937456885818e-06, + "chamfer": 3.584803380363155e-06, + "track": 6.951339628358255e-07, + "acceleration": 1.862259892959628e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.419227479957044e-06, + "observation_loss": 4.28639668825781e-06, + "chamfer": 3.5859804938809248e-06, + "track": 7.004163080637227e-07, + "acceleration": 1.3283101907290984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.547458502202062e-06, + "observation_loss": 4.240997895976761e-06, + "chamfer": 3.547020469341078e-06, + "track": 6.939774834791024e-07, + "acceleration": 3.064605493818817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.4635048652708065e-06, + "observation_loss": 4.068599992024247e-06, + "chamfer": 3.4061592941725394e-06, + "track": 6.624407546951261e-07, + "acceleration": 3.9490493008997873e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.659818841901142e-06, + "observation_loss": 3.9505794120486826e-06, + "chamfer": 3.312809212729917e-06, + "track": 6.377700856319279e-07, + "acceleration": 7.09239657226135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.887646355200559e-06, + "observation_loss": 3.989941887994064e-06, + "chamfer": 3.3403644010832068e-06, + "track": 6.495776574411138e-07, + "acceleration": 8.977042966762383e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.601236469170544e-06, + "observation_loss": 4.09749827667838e-06, + "chamfer": 3.4121521821361966e-06, + "track": 6.853458671685075e-07, + "acceleration": 5.037382493355835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.658090347220423e-06, + "observation_loss": 4.352474661573069e-06, + "chamfer": 3.6037117752130143e-06, + "track": 7.48762829516636e-07, + "acceleration": 3.0561551511709695e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0299486247240566e-06, + "observation_loss": 4.716418970929226e-06, + "chamfer": 3.8818561733933166e-06, + "track": 8.345628543793282e-07, + "acceleration": 3.135296822165401e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.260733360046288e-06, + "observation_loss": 4.8610727390041575e-06, + "chamfer": 3.993617610831279e-06, + "track": 8.674552418597159e-07, + "acceleration": 3.9966047893358336e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.408616289059864e-06, + "observation_loss": 4.802307103091152e-06, + "chamfer": 3.9445035326934885e-06, + "track": 8.578036840845016e-07, + "acceleration": 6.063090722818743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.235483058640966e-06, + "observation_loss": 4.80913377032266e-06, + "chamfer": 3.958764409617288e-06, + "track": 8.503693038619531e-07, + "acceleration": 4.2634914620975906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.363238869904308e-06, + "observation_loss": 5.062419404566754e-06, + "chamfer": 4.169148724031402e-06, + "track": 8.932706805353519e-07, + "acceleration": 3.0081932322900684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.648163096338976e-06, + "observation_loss": 5.375674390961649e-06, + "chamfer": 4.414283012010856e-06, + "track": 9.613913789507933e-07, + "acceleration": 2.7248876222074614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.8977893786504865e-06, + "observation_loss": 5.768681148765609e-06, + "chamfer": 4.730693035526201e-06, + "track": 1.037988340613083e-06, + "acceleration": 1.2910830093915138e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.250619662750978e-06, + "observation_loss": 6.042854238330619e-06, + "chamfer": 4.939219707011944e-06, + "track": 1.1036346450055134e-06, + "acceleration": 2.0776552389634162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.302887868514517e-06, + "observation_loss": 6.095719072618522e-06, + "chamfer": 4.987113243259955e-06, + "track": 1.1086056019848911e-06, + "acceleration": 2.0716885273941443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.418652446882334e-06, + "observation_loss": 6.047413535270607e-06, + "chamfer": 4.943375643051695e-06, + "track": 1.1040380059057497e-06, + "acceleration": 3.7123894003343594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.329541858780431e-06, + "observation_loss": 6.129377197794383e-06, + "chamfer": 4.988979526387993e-06, + "track": 1.1403977850932279e-06, + "acceleration": 1.200164774672885e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.883163900463842e-06, + "observation_loss": 6.2824442466080654e-06, + "chamfer": 5.101134775031824e-06, + "track": 1.1813095852630795e-06, + "acceleration": 2.6007196538557764e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.334925951203331e-06, + "observation_loss": 6.031028078723466e-06, + "chamfer": 4.916701072943397e-06, + "track": 1.1143271194669069e-06, + "acceleration": 2.3038980998535408e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.4296031016274355e-06, + "observation_loss": 5.653366315527819e-06, + "chamfer": 4.619159881258383e-06, + "track": 1.034206320582598e-06, + "acceleration": 1.776236558725941e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.877891221141908e-06, + "observation_loss": 5.464266450871946e-06, + "chamfer": 4.467975941224722e-06, + "track": 9.962906233340618e-07, + "acceleration": 2.4136245428962866e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.654578778077848e-06, + "observation_loss": 5.649521426676074e-06, + "chamfer": 4.598352916218573e-06, + "track": 1.0511685104575008e-06, + "acceleration": 3.0050571240280988e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.65410004532896e-06, + "observation_loss": 5.840163794346154e-06, + "chamfer": 4.724237442133017e-06, + "track": 1.1159265795868123e-06, + "acceleration": 1.8139363646696438e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.077404006849974e-06, + "observation_loss": 6.013335223542526e-06, + "chamfer": 4.850895948038669e-06, + "track": 1.1624395028775325e-06, + "acceleration": 1.064068783307448e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 8.036091458052397e-06, + "observation_loss": 6.114205007179407e-06, + "chamfer": 4.927346253680298e-06, + "track": 1.1868586398122716e-06, + "acceleration": 1.9218864508729894e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.491908490919741e-06, + "observation_loss": 6.195057721924968e-06, + "chamfer": 4.986425665265415e-06, + "track": 1.208632170346391e-06, + "acceleration": 1.2968507689947728e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.035364433249924e-06, + "observation_loss": 6.324664809653768e-06, + "chamfer": 5.088974376121769e-06, + "track": 1.2356904335319996e-06, + "acceleration": 7.10699623596156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.161461780924583e-06, + "observation_loss": 6.792060048610438e-06, + "chamfer": 5.44150179848657e-06, + "track": 1.35055813643703e-06, + "acceleration": 3.6940170389243576e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.775995072734077e-06, + "observation_loss": 7.3767209869401995e-06, + "chamfer": 5.85665429753135e-06, + "track": 1.52006668940885e-06, + "acceleration": 3.992744268543902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.296550731756724e-06, + "observation_loss": 7.708485100010876e-06, + "chamfer": 6.099913207435748e-06, + "track": 1.608571892575128e-06, + "acceleration": 5.880657454326865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.242134754254948e-06, + "observation_loss": 7.581303634651704e-06, + "chamfer": 6.016045063006459e-06, + "track": 1.565258571645245e-06, + "acceleration": 6.608310059164069e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.975187145348173e-06, + "observation_loss": 7.369452760030981e-06, + "chamfer": 5.868775133421877e-06, + "track": 1.5006777402959415e-06, + "acceleration": 6.057342716303538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.351040039793588e-06, + "observation_loss": 7.177363386290381e-06, + "chamfer": 5.7226729950343724e-06, + "track": 1.454690504942846e-06, + "acceleration": 1.736764687620962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.140808520489372e-06, + "observation_loss": 7.006416581134545e-06, + "chamfer": 5.592485649685841e-06, + "track": 1.413930817761866e-06, + "acceleration": 1.343917261920069e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.089906830515247e-06, + "observation_loss": 7.002641723374836e-06, + "chamfer": 5.5852819969004486e-06, + "track": 1.417359953848063e-06, + "acceleration": 8.726500766442769e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.158624612202402e-06, + "observation_loss": 7.04825379216345e-06, + "chamfer": 5.6093663260980975e-06, + "track": 1.4388874660653528e-06, + "acceleration": 1.103709763583538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.193048077169806e-06, + "observation_loss": 7.129886853363132e-06, + "chamfer": 5.666313427354908e-06, + "track": 1.4635734260082245e-06, + "acceleration": 6.316101774928029e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.418724180752179e-06, + "observation_loss": 7.219070084829582e-06, + "chamfer": 5.719148703065002e-06, + "track": 1.4999214954514173e-06, + "acceleration": 1.9965399644661375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.86722193879541e-06, + "observation_loss": 7.306847692234442e-06, + "chamfer": 5.786546807939885e-06, + "track": 1.5203009979813942e-06, + "acceleration": 5.603741328741307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.635027370473836e-06, + "observation_loss": 7.462561370630283e-06, + "chamfer": 5.891459295526147e-06, + "track": 1.5711021887909737e-06, + "acceleration": 1.1724663409040659e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.324828170065302e-06, + "observation_loss": 7.627314516867045e-06, + "chamfer": 6.019260581524577e-06, + "track": 1.6080537079687929e-06, + "acceleration": 1.6975138805719325e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.845708180160727e-06, + "observation_loss": 7.816473953425884e-06, + "chamfer": 6.1656169236812275e-06, + "track": 1.6508571434314945e-06, + "acceleration": 1.0292344541085185e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.639214684080798e-06, + "observation_loss": 8.19960860098945e-06, + "chamfer": 6.441271580115426e-06, + "track": 1.7583366798135103e-06, + "acceleration": 4.396062820433144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.044499165611342e-06, + "observation_loss": 8.728758984943852e-06, + "chamfer": 6.802509687986458e-06, + "track": 1.926249751704745e-06, + "acceleration": 3.1574015224578034e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.466267329116818e-06, + "observation_loss": 9.342285920865834e-06, + "chamfer": 7.220568477350753e-06, + "track": 2.1217176708887564e-06, + "acceleration": 1.2398119508816308e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.79068317974452e-06, + "observation_loss": 9.689779290056322e-06, + "chamfer": 7.457285846612649e-06, + "track": 2.2324934434436727e-06, + "acceleration": 1.0090434443554841e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0222224773315247e-05, + "observation_loss": 9.92198329186067e-06, + "chamfer": 7.617245501023717e-06, + "track": 2.304737563463277e-06, + "acceleration": 3.0024116881577356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0357002793170977e-05, + "observation_loss": 1.016650003293762e-05, + "chamfer": 7.76522938394919e-06, + "track": 2.401270876362105e-06, + "acceleration": 1.9050260391395568e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0416659279144369e-05, + "observation_loss": 1.0289677447872236e-05, + "chamfer": 7.839475074433722e-06, + "track": 2.4502023734385148e-06, + "acceleration": 1.2698222917606472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0512871995160822e-05, + "observation_loss": 1.016439182421891e-05, + "chamfer": 7.75208627601387e-06, + "track": 2.412305320831365e-06, + "acceleration": 3.484799719899456e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0742716767708771e-05, + "observation_loss": 9.851484719547443e-06, + "chamfer": 7.5595235102809966e-06, + "track": 2.2919607545190956e-06, + "acceleration": 8.912320481613278e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0256066161673516e-05, + "observation_loss": 9.674827197159175e-06, + "chamfer": 7.434732651745435e-06, + "track": 2.24009454541374e-06, + "acceleration": 5.812388508275035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.743510418047663e-06, + "observation_loss": 9.506082278676331e-06, + "chamfer": 7.314664344448829e-06, + "track": 2.191417934227502e-06, + "acceleration": 2.3742840937757137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.490539923717733e-06, + "observation_loss": 9.240596227755304e-06, + "chamfer": 7.119116162357386e-06, + "track": 2.1214798380242428e-06, + "acceleration": 2.4994332648020645e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.399391274200752e-06, + "observation_loss": 8.993092706077732e-06, + "chamfer": 6.945264885871438e-06, + "track": 2.047827820206294e-06, + "acceleration": 4.062981417973788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.119690750783775e-05, + "observation_loss": 9.095600034925155e-06, + "chamfer": 7.0006935857236385e-06, + "track": 2.094906449201517e-06, + "acceleration": 2.10130770028627e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1817580343631562e-05, + "observation_loss": 9.266220331483055e-06, + "chamfer": 7.096415629348485e-06, + "track": 2.16980470213457e-06, + "acceleration": 2.5513602395221824e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1772037396440282e-05, + "observation_loss": 9.297467840951867e-06, + "chamfer": 7.135991836548783e-06, + "track": 2.1614764591504354e-06, + "acceleration": 2.474569100741064e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0879539331654087e-05, + "observation_loss": 9.284733096137643e-06, + "chamfer": 7.1017962000041734e-06, + "track": 2.1829364413861185e-06, + "acceleration": 1.594806576576957e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0503060366318095e-05, + "observation_loss": 9.298164513893425e-06, + "chamfer": 7.101931259967387e-06, + "track": 2.1962332539260387e-06, + "acceleration": 1.2048956250509946e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0235284207738005e-05, + "observation_loss": 9.432030310563277e-06, + "chamfer": 7.1858517003420275e-06, + "track": 2.2461788375949254e-06, + "acceleration": 8.032541813918215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0033116268459707e-05, + "observation_loss": 9.581462109053973e-06, + "chamfer": 7.259762242028955e-06, + "track": 2.321700094398693e-06, + "acceleration": 4.516542446708627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.894813047139905e-06, + "observation_loss": 9.776964361662976e-06, + "chamfer": 7.385538083326537e-06, + "track": 2.39142673308379e-06, + "acceleration": 1.1784913311885248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.012864140648162e-05, + "observation_loss": 1.005262674880214e-05, + "chamfer": 7.57786983740516e-06, + "track": 2.4747564566496294e-06, + "acceleration": 7.601445872751356e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0372236829425674e-05, + "observation_loss": 1.0264349839417264e-05, + "chamfer": 7.722966074652504e-06, + "track": 2.5413835373910842e-06, + "acceleration": 1.0788676974016198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.044809596351115e-05, + "observation_loss": 1.034533852362074e-05, + "chamfer": 7.766151611576788e-06, + "track": 2.5791873667913023e-06, + "acceleration": 1.027570135647693e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0563016985543072e-05, + "observation_loss": 1.040904226101702e-05, + "chamfer": 7.806574103597086e-06, + "track": 2.6024679300462594e-06, + "acceleration": 1.5397509400827403e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0631247278070077e-05, + "observation_loss": 1.0478224794496782e-05, + "chamfer": 7.841558726795483e-06, + "track": 2.6366665224486496e-06, + "acceleration": 1.5302208566936315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.058475118043134e-05, + "observation_loss": 1.0498456504137721e-05, + "chamfer": 7.847412234696094e-06, + "track": 2.6510444968153024e-06, + "acceleration": 8.62950244595595e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.073050225386396e-05, + "observation_loss": 1.0487532563274726e-05, + "chamfer": 7.83904306445038e-06, + "track": 2.6484899535716977e-06, + "acceleration": 2.4296952005897765e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0670355550246313e-05, + "observation_loss": 1.0546142220846377e-05, + "chamfer": 7.87147928349441e-06, + "track": 2.6746627099782927e-06, + "acceleration": 1.2421301676113217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0727304470492527e-05, + "observation_loss": 1.0620238754199818e-05, + "chamfer": 7.905402526375838e-06, + "track": 2.7148360004503047e-06, + "acceleration": 1.0706609998578642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0770149856398348e-05, + "observation_loss": 1.0683911568776239e-05, + "chamfer": 7.945415745780338e-06, + "track": 2.7384960503695766e-06, + "acceleration": 8.623844394151092e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0841396942851134e-05, + "observation_loss": 1.0763872523966711e-05, + "chamfer": 7.991721759026404e-06, + "track": 2.772150537566631e-06, + "acceleration": 7.752417019446511e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0828946869878564e-05, + "observation_loss": 1.071988299372606e-05, + "chamfer": 7.966868906805757e-06, + "track": 2.7530140869203024e-06, + "acceleration": 1.0906391167964102e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0674046279746108e-05, + "observation_loss": 1.0578422006801702e-05, + "chamfer": 7.878397809690796e-06, + "track": 2.7000237423635554e-06, + "acceleration": 9.562450742350848e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.298299410588092e-06, + "chamfer_mean": 5.531976010312671e-06, + "track_mean": 1.492403902976965e-06, + "acceleration_mean": 1.2739195132856669e-06, + "observation_score": 7.0243798996709e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4291204460005247 + }, + "score_arrays_file": "pass_scores/pass_end_0354.npz", + "score_arrays_sha256": "3b1a6c3dc26eba8830db8656b486e8eb33fc3c5fd3f75efdaaf9b60849c83076" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0355.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0355.json new file mode 100644 index 0000000000000000000000000000000000000000..53e415b232374b820e3386dca37baa9c5ca85144 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0355.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34080, + "completed_passes": 355, + "snapshot": "pass_end_0355", + "candidate": true, + "snapshot_arrays_sha256": "b94643139aa176bbad5e43df223521a87b43d79c15eddc86f451cb9c10f63a02", + "score": 7.021567263620909e-06, + "score_result": { + "score": 7.021567263620909e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.878705117836944e-06, + 3.150979864585679e-06, + 3.2162774914468173e-06, + 3.650692178780446e-06, + 4.173903562332271e-06, + 4.411656391312135e-06, + 4.16858347307425e-06, + 3.991788162238663e-06, + 3.9192218537209556e-06, + 3.997719431936275e-06, + 4.366505891084671e-06, + 4.808324774785433e-06, + 5.105632226332091e-06, + 5.296928975440096e-06, + 5.288268312142463e-06, + 5.179949766898062e-06, + 4.827486009162385e-06, + 4.438237738213502e-06, + 4.276257641322445e-06, + 4.2823321564355865e-06, + 4.235884262016043e-06, + 4.061236722918693e-06, + 3.943086085200775e-06, + 3.9861706682131626e-06, + 4.098258614249062e-06, + 4.356777026259806e-06, + 4.71846806249232e-06, + 4.860220542468596e-06, + 4.800689566764049e-06, + 4.81046754430281e-06, + 5.065553978056414e-06, + 5.3810113058716524e-06, + 5.776769739895826e-06, + 6.0521902014443185e-06, + 6.10304368819925e-06, + 6.053174274711637e-06, + 6.129482699179789e-06, + 6.276432941376697e-06, + 6.023190508130938e-06, + 5.6513658819312695e-06, + 5.461656655825209e-06, + 5.64550782655715e-06, + 5.835433967149584e-06, + 6.008001037116628e-06, + 6.111257334850961e-06, + 6.191712600411847e-06, + 6.319427484413609e-06, + 6.784891866118414e-06, + 7.369189006567467e-06, + 7.702566108491737e-06, + 7.5773032222059555e-06, + 7.365152669080999e-06, + 7.171463948907331e-06, + 7.00102282280568e-06, + 6.999271136010066e-06, + 7.045520305837272e-06, + 7.1281829150393605e-06, + 7.217461188702146e-06, + 7.305613053176785e-06, + 7.4621666499297135e-06, + 7.62722447689157e-06, + 7.817073310434353e-06, + 8.199858712032437e-06, + 8.729391993256286e-06, + 9.343402780359611e-06, + 9.691528248367831e-06, + 9.923945071932394e-06, + 1.0168555490963627e-05, + 1.0291653779859189e-05, + 1.0164058949158061e-05, + 9.847864930634387e-06, + 9.668685379438102e-06, + 9.498890904069412e-06, + 9.232702723238617e-06, + 8.984638952824753e-06, + 9.092455911741126e-06, + 9.263542779081035e-06, + 9.296275493397843e-06, + 9.282027349399868e-06, + 9.293301445723046e-06, + 9.424984455108643e-06, + 9.57381689659087e-06, + 9.769844837137498e-06, + 1.0044911505247e-05, + 1.025703750201501e-05, + 1.033859280141769e-05, + 1.0402934094599914e-05, + 1.047152909450233e-05, + 1.049244929163251e-05, + 1.0481468052603304e-05, + 1.0540299626882188e-05, + 1.0614416169119067e-05, + 1.067814082489349e-05, + 1.0758409189293161e-05, + 1.0714808013290167e-05, + 1.05740091385087e-05 + ] + ], + "episode_mean_losses": [ + 7.021567263620909e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.878705117836944e-06, + "observation_loss": 2.878705117836944e-06, + "chamfer": 2.4413573100900976e-06, + "track": 4.3734780774684623e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.172234912402928e-05, + "observation_loss": 3.150979864585679e-06, + "chamfer": 2.6647469439922133e-06, + "track": 4.862328637500468e-07, + "acceleration": 3.85713683499489e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3011523808236234e-05, + "observation_loss": 3.2162774914468173e-06, + "chamfer": 2.7239871087658685e-06, + "track": 4.922904963677865e-07, + "acceleration": 1.9795246771536767e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0048957847175188e-05, + "observation_loss": 3.650692178780446e-06, + "chamfer": 3.0792516554356553e-06, + "track": 5.714404096579528e-07, + "acceleration": 6.3982656683947425e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.679786227119621e-06, + "observation_loss": 4.173903562332271e-06, + "chamfer": 3.500945922496612e-06, + "track": 6.729576398356585e-07, + "acceleration": 1.5058825511005125e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.495718141901307e-06, + "observation_loss": 4.411656391312135e-06, + "chamfer": 3.690417088364484e-06, + "track": 7.212393029476516e-07, + "acceleration": 1.084061523215496e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.773375167133054e-06, + "observation_loss": 4.16858347307425e-06, + "chamfer": 3.491481265882612e-06, + "track": 6.771023777218943e-07, + "acceleration": 6.047918645890604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.617715603671968e-06, + "observation_loss": 3.991788162238663e-06, + "chamfer": 3.349073494973709e-06, + "track": 6.427146672649542e-07, + "acceleration": 6.259276119635615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4054954742023256e-06, + "observation_loss": 3.9192218537209556e-06, + "chamfer": 3.293302370366291e-06, + "track": 6.25919653884921e-07, + "acceleration": 4.8627362048137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.301534772821469e-06, + "observation_loss": 3.997719431936275e-06, + "chamfer": 3.358411049703136e-06, + "track": 6.393083822331391e-07, + "acceleration": 3.038155114154506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.5127485464036e-06, + "observation_loss": 4.366505891084671e-06, + "chamfer": 3.659759840957122e-06, + "track": 7.067460501275491e-07, + "acceleration": 1.4624251321038173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.9005329856299795e-06, + "observation_loss": 4.808324774785433e-06, + "chamfer": 4.014972546428908e-06, + "track": 7.933520578262687e-07, + "acceleration": 9.220831032052956e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.209375558479223e-06, + "observation_loss": 5.105632226332091e-06, + "chamfer": 4.2598826439643744e-06, + "track": 8.457497528979729e-07, + "acceleration": 1.0374320424944017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.404747753345873e-06, + "observation_loss": 5.296928975440096e-06, + "chamfer": 4.423256086738547e-06, + "track": 8.736729455449677e-07, + "acceleration": 1.0781870685150352e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.349550974642625e-06, + "observation_loss": 5.288268312142463e-06, + "chamfer": 4.4201715354574844e-06, + "track": 8.68096776684979e-07, + "acceleration": 6.128246354819566e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.303693797031883e-06, + "observation_loss": 5.179949766898062e-06, + "chamfer": 4.331582658778643e-06, + "track": 8.483669375891623e-07, + "acceleration": 1.2374390223612863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.029869953432353e-06, + "observation_loss": 4.827486009162385e-06, + "chamfer": 4.042090040456969e-06, + "track": 7.85395855018578e-07, + "acceleration": 2.023839442699682e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.77703088108683e-06, + "observation_loss": 4.438237738213502e-06, + "chamfer": 3.7199047255853657e-06, + "track": 7.183331831583928e-07, + "acceleration": 3.387929723430716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.463569894141983e-06, + "observation_loss": 4.276257641322445e-06, + "chamfer": 3.5817379284708295e-06, + "track": 6.945196560081968e-07, + "acceleration": 1.873120538675721e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.413539500092156e-06, + "observation_loss": 4.2823321564355865e-06, + "chamfer": 3.5825801205646712e-06, + "track": 6.997519790274964e-07, + "acceleration": 1.3120734365656972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.542236638371833e-06, + "observation_loss": 4.235884262016043e-06, + "chamfer": 3.542780632415088e-06, + "track": 6.931036296009552e-07, + "acceleration": 3.0635234793408017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.451279437489575e-06, + "observation_loss": 4.061236722918693e-06, + "chamfer": 3.400048399271327e-06, + "track": 6.611882099605282e-07, + "acceleration": 3.900426008840441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.626818736142013e-06, + "observation_loss": 3.943086085200775e-06, + "chamfer": 3.3064945910155075e-06, + "track": 6.365916647155245e-07, + "acceleration": 6.837324804109812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.839054781768937e-06, + "observation_loss": 3.9861706682131626e-06, + "chamfer": 3.337065436426201e-06, + "track": 6.491053454737994e-07, + "acceleration": 8.528838861820986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.567747510009212e-06, + "observation_loss": 4.098258614249062e-06, + "chamfer": 3.4126333048334345e-06, + "track": 6.856252525722084e-07, + "acceleration": 4.6948883891673177e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.658675607061014e-06, + "observation_loss": 4.356777026259806e-06, + "chamfer": 3.6070309761271346e-06, + "track": 7.49746220662928e-07, + "acceleration": 3.018984386926604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0434750846761744e-06, + "observation_loss": 4.71846806249232e-06, + "chamfer": 3.883472345478367e-06, + "track": 8.349958875442098e-07, + "acceleration": 3.25006880075307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.276858246361371e-06, + "observation_loss": 4.860220542468596e-06, + "chamfer": 3.993191057816148e-06, + "track": 8.670293141221919e-07, + "acceleration": 4.166379312664503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.4148276831256226e-06, + "observation_loss": 4.800689566764049e-06, + "chamfer": 3.943202955269953e-06, + "track": 8.574864409638394e-07, + "acceleration": 6.141383437352488e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.229917860560818e-06, + "observation_loss": 4.81046754430281e-06, + "chamfer": 3.959616151405498e-06, + "track": 8.508512792104739e-07, + "acceleration": 4.194501457277511e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.36202924195095e-06, + "observation_loss": 5.065553978056414e-06, + "chamfer": 4.171469754510326e-06, + "track": 8.940840530158312e-07, + "acceleration": 2.964754344247922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.644295470119687e-06, + "observation_loss": 5.3810113058716524e-06, + "chamfer": 4.418115622684127e-06, + "track": 9.62895569500688e-07, + "acceleration": 2.6328433477829094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.901675649511162e-06, + "observation_loss": 5.776769739895826e-06, + "chamfer": 4.736638857139042e-06, + "track": 1.0401308827567846e-06, + "acceleration": 1.2490603751302842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.2523563428840134e-06, + "observation_loss": 6.0521902014443185e-06, + "chamfer": 4.946087301505031e-06, + "track": 1.1061027862524497e-06, + "acceleration": 2.0016624091567792e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.2947160586190876e-06, + "observation_loss": 6.10304368819925e-06, + "chamfer": 4.9925270104722586e-06, + "track": 1.1105167914138292e-06, + "acceleration": 1.916722567329998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.374063559633214e-06, + "observation_loss": 6.053174274711637e-06, + "chamfer": 4.947919023834402e-06, + "track": 1.1052553645640728e-06, + "acceleration": 3.208890859696112e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 7.114406798791606e-06, + "observation_loss": 6.129482699179789e-06, + "chamfer": 4.9896634664037265e-06, + "track": 1.1398191190892248e-06, + "acceleration": 9.849238722381415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.511709893355146e-06, + "observation_loss": 6.276432941376697e-06, + "chamfer": 5.097445864521433e-06, + "track": 1.1789871905421023e-06, + "acceleration": 2.235276497231098e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 8.118979167193174e-06, + "observation_loss": 6.023190508130938e-06, + "chamfer": 4.911455107503571e-06, + "track": 1.1117351732536918e-06, + "acceleration": 2.095788886435912e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.334692782023922e-06, + "observation_loss": 5.6513658819312695e-06, + "chamfer": 4.6180462049960624e-06, + "track": 1.0333197906220448e-06, + "acceleration": 1.6833267864058143e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.784241461195052e-06, + "observation_loss": 5.461656655825209e-06, + "chamfer": 4.466156951821176e-06, + "track": 9.954997040040325e-07, + "acceleration": 2.322584805369843e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.636894563096575e-06, + "observation_loss": 5.64550782655715e-06, + "chamfer": 4.595198788592825e-06, + "track": 1.0503089242774877e-06, + "acceleration": 2.9913871912867762e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.73575266066473e-06, + "observation_loss": 5.835433967149584e-06, + "chamfer": 4.720433025795501e-06, + "track": 1.1150010550409206e-06, + "acceleration": 1.9003188072019839e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.0695427893952e-06, + "observation_loss": 6.008001037116628e-06, + "chamfer": 4.846699539484689e-06, + "track": 1.1613012702582637e-06, + "acceleration": 1.0615418659654097e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.960383300087415e-06, + "observation_loss": 6.111257334850961e-06, + "chamfer": 4.925087523588445e-06, + "track": 1.186169924949354e-06, + "acceleration": 1.849125737862778e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.580254532513209e-06, + "observation_loss": 6.191712600411847e-06, + "chamfer": 4.983850431017345e-06, + "track": 1.2078621693945024e-06, + "acceleration": 1.3885420457881992e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.069101229717489e-06, + "observation_loss": 6.319427484413609e-06, + "chamfer": 5.084870736027369e-06, + "track": 1.234556634699402e-06, + "acceleration": 7.49673915834137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.165001079556532e-06, + "observation_loss": 6.784891866118414e-06, + "chamfer": 5.435961156763369e-06, + "track": 1.3489305956682074e-06, + "acceleration": 3.8010935554666503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.764325346215628e-06, + "observation_loss": 7.369189006567467e-06, + "chamfer": 5.851296009495854e-06, + "track": 1.517893224445288e-06, + "acceleration": 3.951363680698705e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.274396350316238e-06, + "observation_loss": 7.702566108491737e-06, + "chamfer": 6.095687695051311e-06, + "track": 1.6068786408141023e-06, + "acceleration": 5.718302986679191e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.23517439130228e-06, + "observation_loss": 7.5773032222059555e-06, + "chamfer": 6.01303463554359e-06, + "track": 1.5642684729755274e-06, + "acceleration": 6.578714533134189e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.992139217094518e-06, + "observation_loss": 7.365152669080999e-06, + "chamfer": 5.865531420568004e-06, + "track": 1.49962147588667e-06, + "acceleration": 6.269865480135195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.3541673373256344e-06, + "observation_loss": 7.171463948907331e-06, + "chamfer": 5.718244210584089e-06, + "track": 1.4532198520100792e-06, + "acceleration": 1.8270343105086795e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.14075622454402e-06, + "observation_loss": 7.00102282280568e-06, + "chamfer": 5.58840156372753e-06, + "track": 1.412621486451826e-06, + "acceleration": 1.3973338752748532e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.088466645654989e-06, + "observation_loss": 6.999271136010066e-06, + "chamfer": 5.582720405072905e-06, + "track": 1.4165508446239983e-06, + "acceleration": 8.91954314852228e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.159229426179081e-06, + "observation_loss": 7.045520305837272e-06, + "chamfer": 5.607321327261161e-06, + "track": 1.4381989785761107e-06, + "acceleration": 1.1370909192010004e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.194223144324496e-06, + "observation_loss": 7.1281829150393605e-06, + "chamfer": 5.665074695571093e-06, + "track": 1.4631083331551054e-06, + "acceleration": 6.60401227037255e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.41203530196799e-06, + "observation_loss": 7.217461188702146e-06, + "chamfer": 5.7179163377441e-06, + "track": 1.4995448509580456e-06, + "acceleration": 1.9457408484413463e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.864673534641042e-06, + "observation_loss": 7.305613053176785e-06, + "chamfer": 5.785558187199058e-06, + "track": 1.5200549796645646e-06, + "acceleration": 5.590605383076763e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.636656275484711e-06, + "observation_loss": 7.4621666499297135e-06, + "chamfer": 5.891185537620913e-06, + "track": 1.5709808849351248e-06, + "acceleration": 1.1744899666155106e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.331877663498744e-06, + "observation_loss": 7.62722447689157e-06, + "chamfer": 6.019138709234539e-06, + "track": 1.6080857676570304e-06, + "acceleration": 1.7046528455466614e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.850724043441005e-06, + "observation_loss": 7.817073310434353e-06, + "chamfer": 6.166126695461571e-06, + "track": 1.650946387599106e-06, + "acceleration": 1.0336502782593016e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.640377927804366e-06, + "observation_loss": 8.199858712032437e-06, + "chamfer": 6.441405730583938e-06, + "track": 1.7584526403879863e-06, + "acceleration": 4.405189315548341e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.044391845236532e-06, + "observation_loss": 8.729391993256286e-06, + "chamfer": 6.80297262078966e-06, + "track": 1.9264198272139765e-06, + "acceleration": 3.1499970987169945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.466459232498892e-06, + "observation_loss": 9.343402780359611e-06, + "chamfer": 7.221421583381016e-06, + "track": 2.1219807422312442e-06, + "acceleration": 1.2305606844620343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.791904631129e-06, + "observation_loss": 9.691528248367831e-06, + "chamfer": 7.458585059794132e-06, + "track": 2.232942961200024e-06, + "acceleration": 1.0037638276116922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0224048310192302e-05, + "observation_loss": 9.923945071932394e-06, + "chamfer": 7.618705240020063e-06, + "track": 2.305239604538656e-06, + "acceleration": 3.0010338036845496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0359700354456436e-05, + "observation_loss": 1.0168555490963627e-05, + "chamfer": 7.766846465528943e-06, + "track": 2.4017087980610086e-06, + "acceleration": 1.9114504823392053e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0418948477308732e-05, + "observation_loss": 1.0291653779859189e-05, + "chamfer": 7.841035767341964e-06, + "track": 2.4506182398909004e-06, + "acceleration": 1.2729493903407274e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.051351773639908e-05, + "observation_loss": 1.0164058949158061e-05, + "chamfer": 7.751975317660253e-06, + "track": 2.412083631497808e-06, + "acceleration": 3.4945844618050614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0740132893261034e-05, + "observation_loss": 9.847864930634387e-06, + "chamfer": 7.557063781860052e-06, + "track": 2.290801603521686e-06, + "acceleration": 8.922681900003226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0248433682136238e-05, + "observation_loss": 9.668685379438102e-06, + "chamfer": 7.430314326484222e-06, + "track": 2.2383710529538803e-06, + "acceleration": 5.797487574454863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.735161256685387e-06, + "observation_loss": 9.498890904069412e-06, + "chamfer": 7.309575266845059e-06, + "track": 2.1893158645980293e-06, + "acceleration": 2.3627046630281257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.480598237132654e-06, + "observation_loss": 9.232702723238617e-06, + "chamfer": 7.113416813808726e-06, + "track": 2.119286364177242e-06, + "acceleration": 2.478957981111307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.368391147290822e-06, + "observation_loss": 8.984638952824753e-06, + "chamfer": 6.938787919352762e-06, + "track": 2.045850806098315e-06, + "acceleration": 3.837523365746165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.1033302143914625e-05, + "observation_loss": 9.092455911741126e-06, + "chamfer": 6.9988791437936015e-06, + "track": 2.0935769953212002e-06, + "acceleration": 1.9408466869208496e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1831016308860853e-05, + "observation_loss": 9.263542779081035e-06, + "chamfer": 7.093920885381522e-06, + "track": 2.1696216663258383e-06, + "acceleration": 2.567473075032467e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1827156413346529e-05, + "observation_loss": 9.296275493397843e-06, + "chamfer": 7.135010037018219e-06, + "track": 2.1612656837532995e-06, + "acceleration": 2.530881374696037e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0865830518014263e-05, + "observation_loss": 9.282027349399868e-06, + "chamfer": 7.099796221154975e-06, + "track": 2.182230900871218e-06, + "acceleration": 1.5838030549275572e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0512059816392139e-05, + "observation_loss": 9.293301445723046e-06, + "chamfer": 7.098400601535104e-06, + "track": 2.1949008441879414e-06, + "acceleration": 1.2187582569822553e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0233761713607237e-05, + "observation_loss": 9.424984455108643e-06, + "chamfer": 7.181015917012701e-06, + "track": 2.2439685380959418e-06, + "acceleration": 8.087774290288507e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0026296877185814e-05, + "observation_loss": 9.57381689659087e-06, + "chamfer": 7.25484505892382e-06, + "track": 2.31897183766705e-06, + "acceleration": 4.5247972479955934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.887778105621692e-06, + "observation_loss": 9.769844837137498e-06, + "chamfer": 7.380971055681584e-06, + "track": 2.3888742362032644e-06, + "acceleration": 1.179328705802618e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0123570973519236e-05, + "observation_loss": 1.0044911505247e-05, + "chamfer": 7.572887170681497e-06, + "track": 2.472024107191828e-06, + "acceleration": 7.86594256396711e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0367270988353994e-05, + "observation_loss": 1.025703750201501e-05, + "chamfer": 7.718288543401286e-06, + "track": 2.5387485038663726e-06, + "acceleration": 1.1023342949556536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0442136954225134e-05, + "observation_loss": 1.033859280141769e-05, + "chamfer": 7.761969754938036e-06, + "track": 2.576623273853329e-06, + "acceleration": 1.0354404622603397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0559443580859806e-05, + "observation_loss": 1.0402934094599914e-05, + "chamfer": 7.802699656167533e-06, + "track": 2.600234211058705e-06, + "acceleration": 1.5650947204903787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0628666132106446e-05, + "observation_loss": 1.047152909450233e-05, + "chamfer": 7.837286830181256e-06, + "track": 2.6342427190684248e-06, + "acceleration": 1.5713698076069704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0578793080640025e-05, + "observation_loss": 1.049244929163251e-05, + "chamfer": 7.843597813916858e-06, + "track": 2.648851705089328e-06, + "acceleration": 8.634344794700155e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0722073056967929e-05, + "observation_loss": 1.0481468052603304e-05, + "chamfer": 7.835188625904266e-06, + "track": 2.6462794266990386e-06, + "acceleration": 2.406053738468472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0662343811418395e-05, + "observation_loss": 1.0540299626882188e-05, + "chamfer": 7.867779459047597e-06, + "track": 2.672520622581942e-06, + "acceleration": 1.2204432664475462e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.072119630407542e-05, + "observation_loss": 1.0614416169119067e-05, + "chamfer": 7.901617209427059e-06, + "track": 2.712798959692009e-06, + "acceleration": 1.0678044759515615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0764004400698468e-05, + "observation_loss": 1.067814082489349e-05, + "chamfer": 7.941657713672612e-06, + "track": 2.7364831112208776e-06, + "acceleration": 8.586341238014938e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0836020010174252e-05, + "observation_loss": 1.0758409189293161e-05, + "chamfer": 7.98826204118086e-06, + "track": 2.7701476028596517e-06, + "acceleration": 7.761079956480899e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.082448670786107e-05, + "observation_loss": 1.0714808013290167e-05, + "chamfer": 7.963781172293238e-06, + "track": 2.7510263862495776e-06, + "acceleration": 1.0967892905000554e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0670161827874836e-05, + "observation_loss": 1.05740091385087e-05, + "chamfer": 7.875743904151022e-06, + "track": 2.6982652343576774e-06, + "acceleration": 9.615274620955461e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.284469683890924e-06, + "chamfer_mean": 5.529948090554626e-06, + "track_mean": 1.4916191866850188e-06, + "acceleration_mean": 1.262902411980349e-06, + "observation_score": 7.021567263620909e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4148600570006238 + }, + "score_arrays_file": "pass_scores/pass_end_0355.npz", + "score_arrays_sha256": "63a4248926fce65f1d02c81ba4f5550af395195ac15e20c1f3ea2609faf8bd39" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0356.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0356.json new file mode 100644 index 0000000000000000000000000000000000000000..f485c7f9b6c3703ccff176b144913cc1e23c4006 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0356.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34176, + "completed_passes": 356, + "snapshot": "pass_end_0356", + "candidate": true, + "snapshot_arrays_sha256": "dd6a6ac76982c26a60e0d8d4cb2a52786b68fe40cd39225b2b3e2e50a6f6bdaa", + "score": 7.018572802053313e-06, + "score_result": { + "score": 7.018572802053313e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.879074145312188e-06, + 3.1507750009041047e-06, + 3.2150624065252487e-06, + 3.6494368487183237e-06, + 4.172244643996237e-06, + 4.410037035995629e-06, + 4.167178303760011e-06, + 3.989925062342081e-06, + 3.917193225788651e-06, + 3.995017323177308e-06, + 4.363354037195677e-06, + 4.803971933142748e-06, + 5.100652288092533e-06, + 5.291298748488771e-06, + 5.282145139062777e-06, + 5.17366970598232e-06, + 4.821935817744816e-06, + 4.432990863278974e-06, + 4.272301794117084e-06, + 4.277724201529054e-06, + 4.229664227750618e-06, + 4.052836629853118e-06, + 3.934977030439768e-06, + 3.98176280214102e-06, + 4.098432782484451e-06, + 4.361412720754743e-06, + 4.7214475671353284e-06, + 4.859949967794819e-06, + 4.798994723387295e-06, + 4.8120077735802624e-06, + 5.069559847470373e-06, + 5.387822056945879e-06, + 5.78623121327837e-06, + 6.06278945269878e-06, + 6.111795755714411e-06, + 6.060512532712892e-06, + 6.1329897107498255e-06, + 6.274580755416537e-06, + 6.0185334405105095e-06, + 5.650401362800039e-06, + 5.458295618154807e-06, + 5.641418738377979e-06, + 5.83016390010016e-06, + 6.001757810736308e-06, + 6.1080404520907905e-06, + 6.187893632159103e-06, + 6.313551239145454e-06, + 6.776695045118686e-06, + 7.359663868555799e-06, + 7.695224667259026e-06, + 7.571600690425839e-06, + 7.358119546552189e-06, + 7.1637659857515246e-06, + 6.995156127231894e-06, + 6.9955631261109374e-06, + 7.04254398442572e-06, + 7.125747288228013e-06, + 7.215351615741383e-06, + 7.3040564529947005e-06, + 7.461098903149832e-06, + 7.626770184288034e-06, + 7.816833203833085e-06, + 8.198766408895608e-06, + 8.728196917218156e-06, + 9.341618351754732e-06, + 9.68908625509357e-06, + 9.921140190272126e-06, + 1.0165762432734482e-05, + 1.0289256351825316e-05, + 1.0159945304621942e-05, + 9.841634891927242e-06, + 9.660308023740072e-06, + 9.490090633335058e-06, + 9.22347589948913e-06, + 8.975558557722252e-06, + 9.089225386560429e-06, + 9.261173545382917e-06, + 9.295385098084807e-06, + 9.280202903028112e-06, + 9.289338777307421e-06, + 9.419602974958252e-06, + 9.567937013343908e-06, + 9.763954949448816e-06, + 1.0038978871307336e-05, + 1.0251732419419568e-05, + 1.0333460522815585e-05, + 1.0398131053079851e-05, + 1.046661509462865e-05, + 1.0487961844773963e-05, + 1.0476621355337556e-05, + 1.0535310138948262e-05, + 1.0609510354697704e-05, + 1.0673781616787892e-05, + 1.0754687536973506e-05, + 1.0711504728533328e-05, + 1.0571029633865692e-05 + ] + ], + "episode_mean_losses": [ + 7.018572802053313e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.879074145312188e-06, + "observation_loss": 2.879074145312188e-06, + "chamfer": 2.4416526684944984e-06, + "track": 4.374213631308521e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.173237903160043e-05, + "observation_loss": 3.1507750009041047e-06, + "chamfer": 2.6645725483831484e-06, + "track": 4.862025093643751e-07, + "acceleration": 3.8581605622312054e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3013133613858372e-05, + "observation_loss": 3.2150624065252487e-06, + "chamfer": 2.722971657931339e-06, + "track": 4.920907485939097e-07, + "acceleration": 1.9798071662080474e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0050632226921152e-05, + "observation_loss": 3.6494368487183237e-06, + "chamfer": 3.078203917539213e-06, + "track": 5.712329880225298e-07, + "acceleration": 6.401195605576504e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.680157300957944e-06, + "observation_loss": 4.172244643996237e-06, + "chamfer": 3.499576223475742e-06, + "track": 6.726685910507513e-07, + "acceleration": 1.5079128843353828e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.493441676662769e-06, + "observation_loss": 4.410037035995629e-06, + "chamfer": 3.689084906000062e-06, + "track": 7.209519026218913e-07, + "acceleration": 1.083404413293465e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.7702183110232e-06, + "observation_loss": 4.167178303760011e-06, + "chamfer": 3.4902984680229565e-06, + "track": 6.768798925804731e-07, + "acceleration": 6.030401777934458e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6159429984982125e-06, + "observation_loss": 3.989925062342081e-06, + "chamfer": 3.3475107557023875e-06, + "track": 6.424144771699503e-07, + "acceleration": 6.260178224692936e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.402963895699941e-06, + "observation_loss": 3.917193225788651e-06, + "chamfer": 3.2915938845690107e-06, + "track": 6.255991706893838e-07, + "acceleration": 4.85770499381033e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.298491603549337e-06, + "observation_loss": 3.995017323177308e-06, + "chamfer": 3.356159595568897e-06, + "track": 6.388576139215729e-07, + "acceleration": 3.034741098417726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.509410700848093e-06, + "observation_loss": 4.363354037195677e-06, + "chamfer": 3.6571793771145167e-06, + "track": 7.06174773767998e-07, + "acceleration": 1.460566352307069e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.896321115666069e-06, + "observation_loss": 4.803971933142748e-06, + "chamfer": 4.0114528019330464e-06, + "track": 7.925190175228636e-07, + "acceleration": 9.234920383960343e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.204305125516839e-06, + "observation_loss": 5.100652288092533e-06, + "chamfer": 4.2558767745504156e-06, + "track": 8.44775343011861e-07, + "acceleration": 1.0365266689404962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.398653229349293e-06, + "observation_loss": 5.291298748488771e-06, + "chamfer": 4.418714979692595e-06, + "track": 8.725835982659191e-07, + "acceleration": 1.0735443112253051e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.3436615417012945e-06, + "observation_loss": 5.282145139062777e-06, + "chamfer": 4.415199782670243e-06, + "track": 8.669452995491156e-07, + "acceleration": 6.151634579509846e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.297832103678957e-06, + "observation_loss": 5.17366970598232e-06, + "chamfer": 4.3264749365334865e-06, + "track": 8.47194996822509e-07, + "acceleration": 1.2416255401603848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.024652182328282e-06, + "observation_loss": 4.821935817744816e-06, + "chamfer": 4.037562575831544e-06, + "track": 7.843733556001098e-07, + "acceleration": 2.0271640721603035e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.7728917706990615e-06, + "observation_loss": 4.432990863278974e-06, + "chamfer": 3.7155707559577422e-06, + "track": 7.17419936790975e-07, + "acceleration": 3.3990068004641216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.460441687115235e-06, + "observation_loss": 4.272301794117084e-06, + "chamfer": 3.5784466945187887e-06, + "track": 6.938552132851328e-07, + "acceleration": 1.8814003510669863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.407625056046527e-06, + "observation_loss": 4.277724201529054e-06, + "chamfer": 3.5787354590866016e-06, + "track": 6.989887424424523e-07, + "acceleration": 1.2990101083687478e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.536831511359196e-06, + "observation_loss": 4.229664227750618e-06, + "chamfer": 3.53762607119279e-06, + "track": 6.920383270880848e-07, + "acceleration": 3.071672267651593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.443393663677853e-06, + "observation_loss": 4.052836629853118e-06, + "chamfer": 3.393075758140185e-06, + "track": 6.597610422431899e-07, + "acceleration": 3.9055689171618724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.6118134378048126e-06, + "observation_loss": 3.934977030439768e-06, + "chamfer": 3.2996729260048596e-06, + "track": 6.353042181217461e-07, + "acceleration": 6.768363505216257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.811137387150666e-06, + "observation_loss": 3.98176280214102e-06, + "chamfer": 3.3332516977679916e-06, + "track": 6.485111043730285e-07, + "acceleration": 8.293746986964834e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.548102879198268e-06, + "observation_loss": 4.098432782484451e-06, + "chamfer": 3.4126676382584265e-06, + "track": 6.85765087382606e-07, + "acceleration": 4.496700682921073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.66092069473234e-06, + "observation_loss": 4.361412720754743e-06, + "chamfer": 3.6106332572671818e-06, + "track": 7.507796340178174e-07, + "acceleration": 2.995077750256314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.054529083281523e-06, + "observation_loss": 4.7214475671353284e-06, + "chamfer": 3.885864771291381e-06, + "track": 8.355828526873665e-07, + "acceleration": 3.3308157298961305e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.290125045576133e-06, + "observation_loss": 4.859949967794819e-06, + "chamfer": 3.9932483559823595e-06, + "track": 8.667016686558782e-07, + "acceleration": 4.3017490725105745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.419111857918324e-06, + "observation_loss": 4.798994723387295e-06, + "chamfer": 3.941859176848084e-06, + "track": 8.571356602260494e-07, + "acceleration": 6.201173050612852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.222214895184152e-06, + "observation_loss": 4.8120077735802624e-06, + "chamfer": 3.960667072533397e-06, + "track": 8.513408147337032e-07, + "acceleration": 4.1020697949534224e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3611724979418796e-06, + "observation_loss": 5.069559847470373e-06, + "chamfer": 4.174500645603985e-06, + "track": 8.950589744927129e-07, + "acceleration": 2.916125367846689e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.645067176374141e-06, + "observation_loss": 5.387822056945879e-06, + "chamfer": 4.423142854648177e-06, + "track": 9.646792022977024e-07, + "acceleration": 2.572449204762961e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.911465450481046e-06, + "observation_loss": 5.78623121327837e-06, + "chamfer": 4.743650151795009e-06, + "track": 1.0425811751701985e-06, + "acceleration": 1.2523433667865902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.26267092229682e-06, + "observation_loss": 6.06278945269878e-06, + "chamfer": 4.953962616127683e-06, + "track": 1.108826950257935e-06, + "acceleration": 1.998813843329117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.298347670963267e-06, + "observation_loss": 6.111795755714411e-06, + "chamfer": 4.999089924240252e-06, + "track": 1.112705831474159e-06, + "acceleration": 1.865519578814201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.354410288622603e-06, + "observation_loss": 6.060512532712892e-06, + "chamfer": 4.953744337399257e-06, + "track": 1.1067680816267966e-06, + "acceleration": 2.938975285360357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.98278063282487e-06, + "observation_loss": 6.1329897107498255e-06, + "chamfer": 4.9928994485526346e-06, + "track": 1.1400903758840286e-06, + "acceleration": 8.497909220750444e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.277240340248682e-06, + "observation_loss": 6.274580755416537e-06, + "chamfer": 5.096811491966946e-06, + "track": 1.1777693771364284e-06, + "acceleration": 2.002659584832145e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.995678970473818e-06, + "observation_loss": 6.0185334405105095e-06, + "chamfer": 4.908533355774125e-06, + "track": 1.1099999710495467e-06, + "acceleration": 1.977145075215958e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.2627894951438066e-06, + "observation_loss": 5.650401362800039e-06, + "chamfer": 4.617634203896159e-06, + "track": 1.0327669315302046e-06, + "acceleration": 1.6123880186569295e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.670641025470104e-06, + "observation_loss": 5.458295618154807e-06, + "chamfer": 4.463725417735986e-06, + "track": 9.945700867319829e-07, + "acceleration": 2.2123451799416216e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.605369657743722e-06, + "observation_loss": 5.641418738377979e-06, + "chamfer": 4.5919273361505475e-06, + "track": 1.0494914022274315e-06, + "acceleration": 2.9639504646183923e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.841419574106112e-06, + "observation_loss": 5.83016390010016e-06, + "chamfer": 4.716203420684906e-06, + "track": 1.113960365728417e-06, + "acceleration": 2.0112561287533026e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.073723281791899e-06, + "observation_loss": 6.001757810736308e-06, + "chamfer": 4.841791451326571e-06, + "track": 1.1599663594097365e-06, + "acceleration": 1.071965243681916e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.840839316486381e-06, + "observation_loss": 6.1080404520907905e-06, + "chamfer": 4.922592324874131e-06, + "track": 1.1854481272166595e-06, + "acceleration": 1.7327987507087528e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.66214361647144e-06, + "observation_loss": 6.187893632159103e-06, + "chamfer": 4.980873200111091e-06, + "track": 1.2070203183611738e-06, + "acceleration": 1.4742499843123369e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.108983936632285e-06, + "observation_loss": 6.313551239145454e-06, + "chamfer": 5.08024913870031e-06, + "track": 1.2333018730714684e-06, + "acceleration": 7.95432640643412e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.17930197424721e-06, + "observation_loss": 6.776695045118686e-06, + "chamfer": 5.429651082522469e-06, + "track": 1.3470440762830549e-06, + "acceleration": 4.026068154416862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.751365046715364e-06, + "observation_loss": 7.359663868555799e-06, + "chamfer": 5.844442966917995e-06, + "track": 1.5152209016378038e-06, + "acceleration": 3.917013202681119e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.245147910201922e-06, + "observation_loss": 7.695224667259026e-06, + "chamfer": 6.090329407015815e-06, + "track": 1.6048950328695355e-06, + "acceleration": 5.49923129256058e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.233982953242958e-06, + "observation_loss": 7.571600690425839e-06, + "chamfer": 6.008737727825064e-06, + "track": 1.5628631899744505e-06, + "acceleration": 6.62381978600024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.999461558938492e-06, + "observation_loss": 7.358119546552189e-06, + "chamfer": 5.8600990087143146e-06, + "track": 1.4980207652115496e-06, + "acceleration": 6.413419555428845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.3785195127129555e-06, + "observation_loss": 7.1637659857515246e-06, + "chamfer": 5.712319307349389e-06, + "track": 1.4514465647152974e-06, + "acceleration": 2.1475366906997806e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.137254215194844e-06, + "observation_loss": 6.995156127231894e-06, + "chamfer": 5.583919573837193e-06, + "track": 1.4112364397078636e-06, + "acceleration": 1.4209817322807794e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.090165581757901e-06, + "observation_loss": 6.9955631261109374e-06, + "chamfer": 5.579902790486813e-06, + "track": 1.4156605629978003e-06, + "acceleration": 9.460247696324586e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.160725090216147e-06, + "observation_loss": 7.04254398442572e-06, + "chamfer": 5.605059868685203e-06, + "track": 1.4374843431141926e-06, + "acceleration": 1.1818088552217887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.1949198172660545e-06, + "observation_loss": 7.125747288228013e-06, + "chamfer": 5.663275715050986e-06, + "track": 1.462471800550702e-06, + "acceleration": 6.91726356194522e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.407347766275052e-06, + "observation_loss": 7.215351615741383e-06, + "chamfer": 5.716349733120296e-06, + "track": 1.4990021099947626e-06, + "acceleration": 1.9199603684683098e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.862146048864815e-06, + "observation_loss": 7.3040564529947005e-06, + "chamfer": 5.784434051747667e-06, + "track": 1.5196224012470338e-06, + "acceleration": 5.580892548096017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.637165592517704e-06, + "observation_loss": 7.461098903149832e-06, + "chamfer": 5.890471129532671e-06, + "track": 1.5706276599303237e-06, + "acceleration": 1.1760663483073586e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.339871212432627e-06, + "observation_loss": 7.626770184288034e-06, + "chamfer": 6.018834938004147e-06, + "track": 1.607935246283887e-06, + "acceleration": 1.713100800770917e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.858091860020068e-06, + "observation_loss": 7.816833203833085e-06, + "chamfer": 6.166075309010921e-06, + "track": 1.6507577811353258e-06, + "acceleration": 1.0412583151264698e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.642441571282689e-06, + "observation_loss": 8.198766408895608e-06, + "chamfer": 6.440667675633449e-06, + "track": 1.7580986195753212e-06, + "acceleration": 4.4367502027853334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.04383159650024e-06, + "observation_loss": 8.728196917218156e-06, + "chamfer": 6.80219272908289e-06, + "track": 1.926003960761591e-06, + "acceleration": 3.156346792820841e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.463964488531929e-06, + "observation_loss": 9.341618351754732e-06, + "chamfer": 7.220276984298835e-06, + "track": 2.1213418222032487e-06, + "acceleration": 1.2234642099429038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.78885236690985e-06, + "observation_loss": 9.68908625509357e-06, + "chamfer": 7.456977527908748e-06, + "track": 2.2321084998111473e-06, + "acceleration": 9.976593418059565e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0220962394669186e-05, + "observation_loss": 9.921140190272126e-06, + "chamfer": 7.61688261263771e-06, + "track": 2.304257350260741e-06, + "acceleration": 2.998219486016751e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0357454812037759e-05, + "observation_loss": 1.0165762432734482e-05, + "chamfer": 7.76511114963796e-06, + "track": 2.400651737843873e-06, + "acceleration": 1.9169279141806328e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0416500117571559e-05, + "observation_loss": 1.0289256351825316e-05, + "chamfer": 7.839574209356215e-06, + "track": 2.449681915095425e-06, + "acceleration": 1.2724369469196972e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0511177606531419e-05, + "observation_loss": 1.0159945304621942e-05, + "chamfer": 7.749308679194655e-06, + "track": 2.410637080174638e-06, + "acceleration": 3.5123196084896335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.073974090104457e-05, + "observation_loss": 9.841634891927242e-06, + "chamfer": 7.5528109846345615e-06, + "track": 2.288823907292681e-06, + "acceleration": 8.981061228041654e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0240986739518121e-05, + "observation_loss": 9.660308023740072e-06, + "chamfer": 7.424391696986277e-06, + "track": 2.235916326753795e-06, + "acceleration": 5.806789431517245e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.72812449617777e-06, + "observation_loss": 9.490090633335058e-06, + "chamfer": 7.303346592379967e-06, + "track": 2.1867438135814155e-06, + "acceleration": 2.3803414705980686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.4725164672127e-06, + "observation_loss": 9.22347589948913e-06, + "chamfer": 7.106771136022871e-06, + "track": 2.116704990839935e-06, + "acceleration": 2.4904079509724397e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.337694791611284e-06, + "observation_loss": 8.975558557722252e-06, + "chamfer": 6.931897587492131e-06, + "track": 2.0436611976037966e-06, + "acceleration": 3.621366602146736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.0884305083891377e-05, + "observation_loss": 9.089225386560429e-06, + "chamfer": 6.996951924520545e-06, + "track": 2.0922732346662087e-06, + "acceleration": 1.7950800383914611e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1846820598293561e-05, + "observation_loss": 9.261173545382917e-06, + "chamfer": 7.091602128639352e-06, + "track": 2.1695709619962145e-06, + "acceleration": 2.585646825536969e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1885144886036869e-05, + "observation_loss": 9.295385098084807e-06, + "chamfer": 7.134228781069396e-06, + "track": 2.1611558622680604e-06, + "acceleration": 2.5897597879520617e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0858704627025872e-05, + "observation_loss": 9.280202903028112e-06, + "chamfer": 7.098478363332106e-06, + "track": 2.1817247670696815e-06, + "acceleration": 1.5785013829372474e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0528449820412789e-05, + "observation_loss": 9.289338777307421e-06, + "chamfer": 7.0954488364805e-06, + "track": 2.1938901682005962e-06, + "acceleration": 1.2391113841658807e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0236765774607193e-05, + "observation_loss": 9.419602974958252e-06, + "chamfer": 7.177407042036066e-06, + "track": 2.2421959329221863e-06, + "acceleration": 8.171628564923594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0021868547482882e-05, + "observation_loss": 9.567937013343908e-06, + "chamfer": 7.251011084008496e-06, + "track": 2.3169263840827625e-06, + "acceleration": 4.5393147729555494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.88116971711861e-06, + "observation_loss": 9.763954949448816e-06, + "chamfer": 7.377204383374192e-06, + "track": 2.3867510208219755e-06, + "acceleration": 1.1721497372718659e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.011918175208848e-05, + "observation_loss": 1.0038978871307336e-05, + "chamfer": 7.569070021418156e-06, + "track": 2.469909077262855e-06, + "acceleration": 8.020258235319488e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.036377580021508e-05, + "observation_loss": 1.0251732419419568e-05, + "chamfer": 7.71493068896234e-06, + "track": 2.5368015030835522e-06, + "acceleration": 1.1204350158777743e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0437093806103803e-05, + "observation_loss": 1.0333460522815585e-05, + "chamfer": 7.758810170344077e-06, + "track": 2.574649897724157e-06, + "acceleration": 1.0363326197193601e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0555279004620388e-05, + "observation_loss": 1.0398131053079851e-05, + "chamfer": 7.799648301443085e-06, + "track": 2.5984832063841168e-06, + "acceleration": 1.5714800838395604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0624471542541869e-05, + "observation_loss": 1.046661509462865e-05, + "chamfer": 7.834099051251542e-06, + "track": 2.6325162707507843e-06, + "acceleration": 1.578568316062956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0574258340056986e-05, + "observation_loss": 1.0487961844773963e-05, + "chamfer": 7.8406437751255e-06, + "track": 2.6473180696484633e-06, + "acceleration": 8.629611869537257e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0715310054365546e-05, + "observation_loss": 1.0476621355337556e-05, + "chamfer": 7.832084520487115e-06, + "track": 2.6445366074767662e-06, + "acceleration": 2.386882727023476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0655679034243803e-05, + "observation_loss": 1.0535310138948262e-05, + "chamfer": 7.864570761739742e-06, + "track": 2.670739604582195e-06, + "acceleration": 1.203689521389606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.071630231308518e-05, + "observation_loss": 1.0609510354697704e-05, + "chamfer": 7.898366675362922e-06, + "track": 2.711144134082133e-06, + "acceleration": 1.0679161022153494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0759305951069109e-05, + "observation_loss": 1.0673781616787892e-05, + "chamfer": 7.938781891425606e-06, + "track": 2.734999725362286e-06, + "acceleration": 8.552468955258519e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.083242295862874e-05, + "observation_loss": 1.0754687536973506e-05, + "chamfer": 7.985855518199969e-06, + "track": 2.7688317913998617e-06, + "acceleration": 7.773530796839623e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0821629075508099e-05, + "observation_loss": 1.0711504728533328e-05, + "chamfer": 7.961726623761933e-06, + "track": 2.7497781047713943e-06, + "acceleration": 1.1012429723677997e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0667251444829162e-05, + "observation_loss": 1.0571029633865692e-05, + "chamfer": 7.87389581091702e-06, + "track": 2.697133822948672e-06, + "acceleration": 9.6221960177445e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.27531310676477e-06, + "chamfer_mean": 5.527767347264974e-06, + "track_mean": 1.4908054749203832e-06, + "acceleration_mean": 1.2567402941273305e-06, + "observation_score": 7.018572802053313e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.420131119000871 + }, + "score_arrays_file": "pass_scores/pass_end_0356.npz", + "score_arrays_sha256": "778bc7ffb322aa687ab0e86d4bbe8e32fd35882b1d90bfb371619283270092bb" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0357.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0357.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ad6fe915289cd0c1d3bd8b9919f364f1ce5ee5 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0357.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34272, + "completed_passes": 357, + "snapshot": "pass_end_0357", + "candidate": true, + "snapshot_arrays_sha256": "ca06bcd7fa8e62136eb555e7c0ee1cfd5d72322637730745386b349a7cf11f30", + "score": 7.016447317672221e-06, + "score_result": { + "score": 7.016447317672221e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8794072477467125e-06, + 3.1506390314461896e-06, + 3.2138204915099777e-06, + 3.648116489785025e-06, + 4.170453848928446e-06, + 4.408389941090718e-06, + 4.1657772271719296e-06, + 3.988122898590518e-06, + 3.914827175321989e-06, + 3.992321126133902e-06, + 4.360110779089155e-06, + 4.799813268618891e-06, + 5.095369033369934e-06, + 5.285355200612685e-06, + 5.275820967653999e-06, + 5.167502877156949e-06, + 4.816202363144839e-06, + 4.427575277077267e-06, + 4.268055363354506e-06, + 4.2730198401841335e-06, + 4.22331459049019e-06, + 4.044157321914099e-06, + 3.927115812984994e-06, + 3.978143013227964e-06, + 4.099757461517584e-06, + 4.366473604022758e-06, + 4.724853624793468e-06, + 4.8596789383736905e-06, + 4.797408564627403e-06, + 4.813563919014996e-06, + 5.0735548029479105e-06, + 5.394921117840568e-06, + 5.7956699492933694e-06, + 6.0730176301149186e-06, + 6.119668796600308e-06, + 6.066835339879617e-06, + 6.136181127658347e-06, + 6.273611688811798e-06, + 6.015279723214917e-06, + 5.6503445193811785e-06, + 5.455314749269746e-06, + 5.637682988890447e-06, + 5.8254372561350465e-06, + 5.996532763674622e-06, + 6.1053606259520166e-06, + 6.184254743857309e-06, + 6.308525826170808e-06, + 6.769048923160881e-06, + 7.3516157499398105e-06, + 7.689863195992075e-06, + 7.56721510697389e-06, + 7.352484317380004e-06, + 7.1587837737752125e-06, + 6.992125236138236e-06, + 6.993867827986833e-06, + 7.0420965130324475e-06, + 7.126107902877266e-06, + 7.215607638499932e-06, + 7.304562586796237e-06, + 7.4611571108107455e-06, + 7.6273900049272925e-06, + 7.817800906195771e-06, + 8.198677278414834e-06, + 8.7279631770798e-06, + 9.341921213490423e-06, + 9.69014763541054e-06, + 9.922751814883668e-06, + 1.016754140437115e-05, + 1.0290888894814998e-05, + 1.0159690646105446e-05, + 9.838990990829188e-06, + 9.655683243181556e-06, + 9.48432079894701e-06, + 9.217445040121675e-06, + 8.97018617251888e-06, + 9.089258128369693e-06, + 9.261483683076221e-06, + 9.296950338466559e-06, + 9.280036465497687e-06, + 9.287179636885412e-06, + 9.415276508661918e-06, + 9.562405466567725e-06, + 9.758203304954804e-06, + 1.0032397767645307e-05, + 1.024538778438e-05, + 1.0327475138183217e-05, + 1.0392740477982443e-05, + 1.0461085366841871e-05, + 1.0482838661118876e-05, + 1.047159094014205e-05, + 1.0530549843679182e-05, + 1.0604841008898802e-05, + 1.0669259609130677e-05, + 1.0750734872999601e-05, + 1.0707960427680518e-05, + 1.0567991012067068e-05 + ] + ], + "episode_mean_losses": [ + 7.016447317672221e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8794072477467125e-06, + "observation_loss": 2.8794072477467125e-06, + "chamfer": 2.441918695694767e-06, + "track": 4.3748849520852673e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.174481364316307e-05, + "observation_loss": 3.1506390314461896e-06, + "chamfer": 2.664455450940295e-06, + "track": 4.861836373493134e-07, + "acceleration": 3.8594174839090556e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3014687030809e-05, + "observation_loss": 3.2138204915099777e-06, + "chamfer": 2.721932787608239e-06, + "track": 4.918877607451577e-07, + "acceleration": 1.9800867448793724e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0052499419543892e-05, + "observation_loss": 3.648116489785025e-06, + "chamfer": 3.0771050205657957e-06, + "track": 5.71011526062648e-07, + "acceleration": 6.404382929758867e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.681607490259921e-06, + "observation_loss": 4.170453848928446e-06, + "chamfer": 3.498104888421949e-06, + "track": 6.723489036630781e-07, + "acceleration": 1.5111535276446375e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.492164291354129e-06, + "observation_loss": 4.408389941090718e-06, + "chamfer": 3.6877340789942537e-06, + "track": 7.206560326267208e-07, + "acceleration": 1.0837742365765735e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.767050995724276e-06, + "observation_loss": 4.1657772271719296e-06, + "chamfer": 3.4891252198576694e-06, + "track": 6.76652064157679e-07, + "acceleration": 6.012735980220896e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.614265435520792e-06, + "observation_loss": 3.988122898590518e-06, + "chamfer": 3.34600122187112e-06, + "track": 6.421215061891417e-07, + "acceleration": 6.261424232434365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.4000562411383726e-06, + "observation_loss": 3.914827175321989e-06, + "chamfer": 3.2896157335926546e-06, + "track": 6.252115554161719e-07, + "acceleration": 4.852292363466404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.295924554753583e-06, + "observation_loss": 3.992321126133902e-06, + "chamfer": 3.3539145078975707e-06, + "track": 6.384066750797501e-07, + "acceleration": 3.036032296677149e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.506467575993156e-06, + "observation_loss": 4.360110779089155e-06, + "chamfer": 3.6545318380376557e-06, + "track": 7.055787705212424e-07, + "acceleration": 1.463566121628901e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.892088782071369e-06, + "observation_loss": 4.799813268618891e-06, + "chamfer": 4.008095402241452e-06, + "track": 7.917179800642771e-07, + "acceleration": 9.227544950363153e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.198970029596239e-06, + "observation_loss": 5.095369033369934e-06, + "chamfer": 4.251630798535189e-06, + "track": 8.437383485215832e-07, + "acceleration": 1.0360120938912587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.3928947636450175e-06, + "observation_loss": 5.285355200612685e-06, + "chamfer": 4.413925125845708e-06, + "track": 8.714300179235579e-07, + "acceleration": 1.075395985594696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.3372091315395664e-06, + "observation_loss": 5.275820967653999e-06, + "chamfer": 4.410059773363173e-06, + "track": 8.657610806039884e-07, + "acceleration": 6.138835573210599e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.291394700179808e-06, + "observation_loss": 5.167502877156949e-06, + "chamfer": 4.3214558900217526e-06, + "track": 8.460471008220338e-07, + "acceleration": 1.2389200776397047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.018455794925103e-06, + "observation_loss": 4.816202363144839e-06, + "chamfer": 4.032881406601518e-06, + "track": 7.833208996999019e-07, + "acceleration": 2.0225360231052036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.7679250201326795e-06, + "observation_loss": 4.427575277077267e-06, + "chamfer": 3.711093768288265e-06, + "track": 7.164813951021642e-07, + "acceleration": 3.403496862119937e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.456775059225038e-06, + "observation_loss": 4.268055363354506e-06, + "chamfer": 3.5749162634601817e-06, + "track": 6.931391567377432e-07, + "acceleration": 1.8871961060540343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.4013781916873995e-06, + "observation_loss": 4.2730198401841335e-06, + "chamfer": 3.5748187201534165e-06, + "track": 6.982009495004604e-07, + "acceleration": 1.2835846519010374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.529822945187334e-06, + "observation_loss": 4.22331459049019e-06, + "chamfer": 3.532370101311244e-06, + "track": 6.909444323355274e-07, + "acceleration": 3.0650855364910967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.436275048647076e-06, + "observation_loss": 4.044157321914099e-06, + "chamfer": 3.3858761980809504e-06, + "track": 6.582812943634053e-07, + "acceleration": 3.92117811998105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.606976744980784e-06, + "observation_loss": 3.927115812984994e-06, + "chamfer": 3.293046347607742e-06, + "track": 6.34069294846995e-07, + "acceleration": 6.798609319957905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.802895091415849e-06, + "observation_loss": 3.978143013227964e-06, + "chamfer": 3.3300864288321463e-06, + "track": 6.480565843958175e-07, + "acceleration": 8.247522487181413e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.538070243143011e-06, + "observation_loss": 4.099757461517584e-06, + "chamfer": 3.4136476187995868e-06, + "track": 6.861098995614157e-07, + "acceleration": 4.3831263951688015e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.664969310397282e-06, + "observation_loss": 4.366473604022758e-06, + "chamfer": 3.614569095589104e-06, + "track": 7.519046221204917e-07, + "acceleration": 2.9849570637452416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0660728447837755e-06, + "observation_loss": 4.724853624793468e-06, + "chamfer": 3.888606897817226e-06, + "track": 8.362466701328231e-07, + "acceleration": 3.412194473639829e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.303652869770303e-06, + "observation_loss": 4.8596789383736905e-06, + "chamfer": 3.993313384853536e-06, + "track": 8.663654398333165e-07, + "acceleration": 4.439737608663563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.423009042715421e-06, + "observation_loss": 4.797408564627403e-06, + "chamfer": 3.940632723242743e-06, + "track": 8.567758413846605e-07, + "acceleration": 6.256006486182741e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.213365511735901e-06, + "observation_loss": 4.813563919014996e-06, + "chamfer": 3.9617302718397696e-06, + "track": 8.518338177054829e-07, + "acceleration": 3.9980173482945247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3589019444189034e-06, + "observation_loss": 5.0735548029479105e-06, + "chamfer": 4.177531081950292e-06, + "track": 8.960236641541997e-07, + "acceleration": 2.8534725515783066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.644416432915023e-06, + "observation_loss": 5.394921117840568e-06, + "chamfer": 4.428418833413161e-06, + "track": 9.665021707405685e-07, + "acceleration": 2.4949517296590784e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.919991508562816e-06, + "observation_loss": 5.7956699492933694e-06, + "chamfer": 4.750623702420853e-06, + "track": 1.045046360559354e-06, + "acceleration": 1.2432141716089973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.2724866438657045e-06, + "observation_loss": 6.0730176301149186e-06, + "chamfer": 4.9614859563007485e-06, + "track": 1.1115315601273323e-06, + "acceleration": 1.994690563833501e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.303661393758375e-06, + "observation_loss": 6.119668796600308e-06, + "chamfer": 5.004948889109073e-06, + "track": 1.114719907491235e-06, + "acceleration": 1.839925687363575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.343311270029517e-06, + "observation_loss": 6.066835339879617e-06, + "chamfer": 4.958745194016956e-06, + "track": 1.108090259549499e-06, + "acceleration": 2.764759585716092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.883156402182067e-06, + "observation_loss": 6.136181127658347e-06, + "chamfer": 4.995800281903939e-06, + "track": 1.140380959441245e-06, + "acceleration": 7.469751039934636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 8.075774530880153e-06, + "observation_loss": 6.273611688811798e-06, + "chamfer": 5.096776931168279e-06, + "track": 1.1768348713303567e-06, + "acceleration": 1.80216261469468e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.870447916502599e-06, + "observation_loss": 6.015279723214917e-06, + "chamfer": 4.906606591248419e-06, + "track": 1.10867301827966e-06, + "acceleration": 1.8551681932876818e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.1906902121554594e-06, + "observation_loss": 5.6503445193811785e-06, + "chamfer": 4.6179657147149555e-06, + "track": 1.0323786909793853e-06, + "acceleration": 1.540345692774281e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.5659600042854436e-06, + "observation_loss": 5.455314749269746e-06, + "chamfer": 4.46158810518682e-06, + "track": 9.93726757769764e-07, + "acceleration": 2.1106452550156973e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.562356924812775e-06, + "observation_loss": 5.637682988890447e-06, + "chamfer": 4.588909177982714e-06, + "track": 1.0487738109077327e-06, + "acceleration": 2.924673708548653e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.944106982904486e-06, + "observation_loss": 5.8254372561350465e-06, + "chamfer": 4.712400823336793e-06, + "track": 1.1130363191114157e-06, + "acceleration": 2.1186699541431153e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.105738859536359e-06, + "observation_loss": 5.996532763674622e-06, + "chamfer": 4.837655524170259e-06, + "track": 1.1588771258175257e-06, + "acceleration": 1.1092060958617367e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.71985560277244e-06, + "observation_loss": 6.1053606259520166e-06, + "chamfer": 4.920480932923965e-06, + "track": 1.184879465654376e-06, + "acceleration": 1.614495090507262e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.725671821390279e-06, + "observation_loss": 6.184254743857309e-06, + "chamfer": 4.977951448381646e-06, + "track": 1.2063034091625013e-06, + "acceleration": 1.5414171912198071e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.149577868403867e-06, + "observation_loss": 6.308525826170808e-06, + "chamfer": 5.0762464525178075e-06, + "track": 1.2322793736530002e-06, + "acceleration": 8.410521559198969e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.19910849511507e-06, + "observation_loss": 6.769048923160881e-06, + "chamfer": 5.423774837254314e-06, + "track": 1.345274085906567e-06, + "acceleration": 4.3005965721931716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.74287309468491e-06, + "observation_loss": 7.3516157499398105e-06, + "chamfer": 5.8387067838339135e-06, + "track": 1.5129090797927347e-06, + "acceleration": 3.9125762896219385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.22145193524193e-06, + "observation_loss": 7.689863195992075e-06, + "chamfer": 6.086466783017386e-06, + "track": 1.603396071914176e-06, + "acceleration": 5.315883413459233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.251401595771313e-06, + "observation_loss": 7.56721510697389e-06, + "chamfer": 6.0054239838791545e-06, + "track": 1.5617912367815734e-06, + "acceleration": 6.841862045803282e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.984554031281732e-06, + "observation_loss": 7.352484317380004e-06, + "chamfer": 5.855762537976261e-06, + "track": 1.4967216657169047e-06, + "acceleration": 6.320693728412152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.426044703606749e-06, + "observation_loss": 7.1587837737752125e-06, + "chamfer": 5.708372555091046e-06, + "track": 1.450411104997329e-06, + "acceleration": 2.672611287835025e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.137398370105075e-06, + "observation_loss": 6.992125236138236e-06, + "chamfer": 5.581628101936076e-06, + "track": 1.4104970205153222e-06, + "acceleration": 1.4527302028000122e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.099695721990429e-06, + "observation_loss": 6.993867827986833e-06, + "chamfer": 5.578694526775507e-06, + "track": 1.4151734148981632e-06, + "acceleration": 1.058277021570575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.166973773564678e-06, + "observation_loss": 7.0420965130324475e-06, + "chamfer": 5.6047761063382495e-06, + "track": 1.4373201793205226e-06, + "acceleration": 1.2487733158650371e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.198213552328525e-06, + "observation_loss": 7.126107902877266e-06, + "chamfer": 5.663711363013135e-06, + "track": 1.462396653550968e-06, + "acceleration": 7.210571340010574e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.407072189380415e-06, + "observation_loss": 7.215607638499932e-06, + "chamfer": 5.716661689803004e-06, + "track": 1.4989460623837658e-06, + "acceleration": 1.9146442298278998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.863018254283816e-06, + "observation_loss": 7.304562586796237e-06, + "chamfer": 5.784894256066764e-06, + "track": 1.519668444416311e-06, + "acceleration": 5.584555538007407e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.639717634650879e-06, + "observation_loss": 7.4611571108107455e-06, + "chamfer": 5.890622105653165e-06, + "track": 1.570535232531256e-06, + "acceleration": 1.1785604101532954e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.347852937935386e-06, + "observation_loss": 7.6273900049272925e-06, + "chamfer": 6.0193428907950874e-06, + "track": 1.6080473415058805e-06, + "acceleration": 1.7204628193212557e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.86338693817379e-06, + "observation_loss": 7.817800906195771e-06, + "chamfer": 6.166933417262044e-06, + "track": 1.6508677163074026e-06, + "acceleration": 1.0455859182911809e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.644638910482172e-06, + "observation_loss": 8.198677278414834e-06, + "chamfer": 6.440649485739414e-06, + "track": 1.7580277926754206e-06, + "acceleration": 4.459612057416962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.043649697559886e-06, + "observation_loss": 8.7279631770798e-06, + "chamfer": 6.802139523642836e-06, + "track": 1.92582388081064e-06, + "acceleration": 3.156862646847003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.464010872761719e-06, + "observation_loss": 9.341921213490423e-06, + "chamfer": 7.2207576522487216e-06, + "track": 2.121163333868026e-06, + "acceleration": 1.2208931821078295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.789119758352172e-06, + "observation_loss": 9.69014763541054e-06, + "chamfer": 7.458008440153208e-06, + "track": 2.232139195257332e-06, + "acceleration": 9.897180319740073e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0222577657259535e-05, + "observation_loss": 9.922751814883668e-06, + "chamfer": 7.6183100645721424e-06, + "track": 2.30444152293785e-06, + "acceleration": 2.9982572868902935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.035976947605377e-05, + "observation_loss": 1.016754140437115e-05, + "chamfer": 7.766714588797186e-06, + "track": 2.4008263608266134e-06, + "acceleration": 1.9222768798954348e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0418319106975105e-05, + "observation_loss": 1.0290888894814998e-05, + "chamfer": 7.84106941864593e-06, + "track": 2.4498199309164193e-06, + "acceleration": 1.2743004162985017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0512769222259521e-05, + "observation_loss": 1.0159690646105446e-05, + "chamfer": 7.749447831884027e-06, + "track": 2.410243041595095e-06, + "acceleration": 3.5307894563629816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0742525773821399e-05, + "observation_loss": 9.838990990829188e-06, + "chamfer": 7.551149337814422e-06, + "track": 2.2878418803884415e-06, + "acceleration": 9.035344987751159e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0236657544737682e-05, + "observation_loss": 9.655683243181556e-06, + "chamfer": 7.421136615448631e-06, + "track": 2.2345461729855742e-06, + "acceleration": 5.809741310258687e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.722032700665295e-06, + "observation_loss": 9.48432079894701e-06, + "chamfer": 7.299287062778603e-06, + "track": 2.1850339635420823e-06, + "acceleration": 2.377121433028151e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.464114555157721e-06, + "observation_loss": 9.217445040121675e-06, + "chamfer": 7.102358267729869e-06, + "track": 2.1150867723918054e-06, + "acceleration": 2.466695150360465e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.308884727943223e-06, + "observation_loss": 8.97018617251888e-06, + "chamfer": 6.927617050678236e-06, + "track": 2.0425691218406428e-06, + "acceleration": 3.3869844173750607e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.0739755452959798e-05, + "observation_loss": 9.089258128369693e-06, + "chamfer": 6.997363470873097e-06, + "track": 2.0918946574965958e-06, + "acceleration": 1.650497551963781e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1867301509482786e-05, + "observation_loss": 9.261483683076221e-06, + "chamfer": 7.091244697221555e-06, + "track": 2.1702387584809912e-06, + "acceleration": 2.6058182811539154e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.1947021448577289e-05, + "observation_loss": 9.296950338466559e-06, + "chamfer": 7.135167834348977e-06, + "track": 2.161782504117582e-06, + "acceleration": 2.6500708827370545e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0848616511793807e-05, + "observation_loss": 9.280036465497687e-06, + "chamfer": 7.098274181771558e-06, + "track": 2.181762511099805e-06, + "acceleration": 1.5685801599829574e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0545976692810655e-05, + "observation_loss": 9.287179636885412e-06, + "chamfer": 7.093685781001113e-06, + "track": 2.1934943106316496e-06, + "acceleration": 1.2587967148647294e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.024190987664042e-05, + "observation_loss": 9.415276508661918e-06, + "chamfer": 7.174498023232445e-06, + "track": 2.240778940176824e-06, + "acceleration": 8.266333679785021e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0018797183874995e-05, + "observation_loss": 9.562405466567725e-06, + "chamfer": 7.247489975270582e-06, + "track": 2.3149159460444935e-06, + "acceleration": 4.5639131940333755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.875363502942491e-06, + "observation_loss": 9.758203304954804e-06, + "chamfer": 7.373620519501856e-06, + "track": 2.384582785452949e-06, + "acceleration": 1.171597858729001e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0115228178619873e-05, + "observation_loss": 1.0032397767645307e-05, + "chamfer": 7.564866336906562e-06, + "track": 2.4675314307387453e-06, + "acceleration": 8.283073782422434e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0360470696468838e-05, + "observation_loss": 1.024538778438e-05, + "chamfer": 7.710885256528854e-06, + "track": 2.5345025278511457e-06, + "acceleration": 1.1508281261285447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0432450835651252e-05, + "observation_loss": 1.0327475138183217e-05, + "chamfer": 7.755143087706529e-06, + "track": 2.5723318231030134e-06, + "acceleration": 1.0497603852854809e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0551908417255618e-05, + "observation_loss": 1.0392740477982443e-05, + "chamfer": 7.796226782375015e-06, + "track": 2.5965136956074275e-06, + "acceleration": 1.5916819506855973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0620931789162569e-05, + "observation_loss": 1.0461085366841871e-05, + "chamfer": 7.830606591596734e-06, + "track": 2.6304787752451375e-06, + "acceleration": 1.5984660706180875e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0569267942628358e-05, + "observation_loss": 1.0482838661118876e-05, + "chamfer": 7.83734503784217e-06, + "track": 2.6454936232767068e-06, + "acceleration": 8.642930282576344e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0709458365454338e-05, + "observation_loss": 1.047159094014205e-05, + "chamfer": 7.828938578313682e-06, + "track": 2.642652361828368e-06, + "acceleration": 2.3786711267348437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0650082913343795e-05, + "observation_loss": 1.0530549843679182e-05, + "chamfer": 7.861542144382838e-06, + "track": 2.669007699296344e-06, + "acceleration": 1.195329701886294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0712120456446428e-05, + "observation_loss": 1.0604841008898802e-05, + "chamfer": 7.895298949733842e-06, + "track": 2.70954205916496e-06, + "acceleration": 1.0727956833989083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0754623872344382e-05, + "observation_loss": 1.0669259609130677e-05, + "chamfer": 7.935823305160739e-06, + "track": 2.7334365313436138e-06, + "acceleration": 8.536428452998734e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0828237464011181e-05, + "observation_loss": 1.0750734872999601e-05, + "chamfer": 7.983357136254199e-06, + "track": 2.7673772819980513e-06, + "acceleration": 7.750287522867438e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0817950169439428e-05, + "observation_loss": 1.0707960427680518e-05, + "chamfer": 7.959552931424696e-06, + "track": 2.7484074962558225e-06, + "acceleration": 1.0998954991237042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0664052751963027e-05, + "observation_loss": 1.0567991012067068e-05, + "chamfer": 7.872095920902211e-06, + "track": 2.6958953185385326e-06, + "acceleration": 9.606197437506125e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.268506360783098e-06, + "chamfer_mean": 5.526237240853031e-06, + "track_mean": 1.4902100916221646e-06, + "acceleration_mean": 1.2520590320826603e-06, + "observation_score": 7.016447317672221e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4305085439991672 + }, + "score_arrays_file": "pass_scores/pass_end_0357.npz", + "score_arrays_sha256": "1dcc5d3a7a08474a9c3c30e0bc1ae6020328983fde2fbd96cdfde5a1124a1e93" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0358.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0358.json new file mode 100644 index 0000000000000000000000000000000000000000..97b6da8a285e865fdd9ac1f7976b96f675a128e9 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0358.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34368, + "completed_passes": 358, + "snapshot": "pass_end_0358", + "candidate": true, + "snapshot_arrays_sha256": "ae9a3db21c1511fd7f7e47cb88aacbb3882eca74cd3773e35e329d854664ce7f", + "score": 7.015390143768248e-06, + "score_result": { + "score": 7.015390143768248e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8798033326893346e-06, + 3.1504901016887743e-06, + 3.2124341942108003e-06, + 3.6464798540691845e-06, + 4.167597580817528e-06, + 4.404924766276963e-06, + 4.162731329415692e-06, + 3.985223884228617e-06, + 3.9118881431932095e-06, + 3.989057859143941e-06, + 4.356196768640075e-06, + 4.7939956857590005e-06, + 5.088275429443456e-06, + 5.277951004245551e-06, + 5.267938831821084e-06, + 5.159743068361422e-06, + 4.809633537661284e-06, + 4.4219254959898535e-06, + 4.264118615537882e-06, + 4.267337317287456e-06, + 4.214107320876792e-06, + 4.032478500448633e-06, + 3.917576577805448e-06, + 3.974518222094048e-06, + 4.1034909372683614e-06, + 4.375869139039423e-06, + 4.7333874135802034e-06, + 4.8646975301380735e-06, + 4.800493570655817e-06, + 4.819954483537003e-06, + 5.08244465891039e-06, + 5.406208856584271e-06, + 5.8081382121599745e-06, + 6.084721917432034e-06, + 6.129131634224905e-06, + 6.0753773141186684e-06, + 6.146070518298075e-06, + 6.280436082306551e-06, + 6.019283318892121e-06, + 5.653431344398996e-06, + 5.454277925309725e-06, + 5.634291937894886e-06, + 5.820094884256832e-06, + 5.990736099192873e-06, + 6.101213330111932e-06, + 6.178512649057666e-06, + 6.300317636487307e-06, + 6.755902631994104e-06, + 7.334795100177871e-06, + 7.672944775549695e-06, + 7.5509124144446105e-06, + 7.335509053518763e-06, + 7.144214123400161e-06, + 6.982440027059056e-06, + 6.987850611039903e-06, + 7.038041076157242e-06, + 7.123670911823865e-06, + 7.212993295979686e-06, + 7.301163805095712e-06, + 7.456849289155798e-06, + 7.623996680194978e-06, + 7.813120646460447e-06, + 8.190879270841833e-06, + 8.717494893062394e-06, + 9.33047977014212e-06, + 9.67900086834561e-06, + 9.91288834484294e-06, + 1.0157721590076108e-05, + 1.0281304639647715e-05, + 1.0150226444238797e-05, + 9.829251212067902e-06, + 9.64628725341754e-06, + 9.475281331106089e-06, + 9.209246854879893e-06, + 8.966611858340912e-06, + 9.094672350329347e-06, + 9.274858712160494e-06, + 9.31400791159831e-06, + 9.295561540056951e-06, + 9.299279554397799e-06, + 9.424446034245193e-06, + 9.568711902829818e-06, + 9.763169146026485e-06, + 1.0038567779702134e-05, + 1.0251463208987843e-05, + 1.0332849342375994e-05, + 1.0398544873169158e-05, + 1.0467844731465448e-05, + 1.0489648957445752e-05, + 1.0478313924977556e-05, + 1.0538319656916428e-05, + 1.0613061022013426e-05, + 1.0677485079213511e-05, + 1.0759893484646454e-05, + 1.07179030237603e-05, + 1.0578763976809569e-05 + ] + ], + "episode_mean_losses": [ + 7.015390143768248e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8798033326893346e-06, + "observation_loss": 2.8798033326893346e-06, + "chamfer": 2.4422379283350892e-06, + "track": 4.375654896193737e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.175229696556926e-05, + "observation_loss": 3.1504901016887743e-06, + "chamfer": 2.6643267574399943e-06, + "track": 4.861632874053612e-07, + "acceleration": 3.8601807318627834e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3018568754196167e-05, + "observation_loss": 3.2124341942108003e-06, + "chamfer": 2.7207731818634784e-06, + "track": 4.916609555039031e-07, + "acceleration": 1.9806135242106393e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0056270184577443e-05, + "observation_loss": 3.6464798540691845e-06, + "chamfer": 3.0757530566916103e-06, + "track": 5.707267973775743e-07, + "acceleration": 6.409789875760907e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.6794110605551396e-06, + "observation_loss": 4.167597580817528e-06, + "chamfer": 3.4957927255163668e-06, + "track": 6.718047416143236e-07, + "acceleration": 1.5118135934244492e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.487475391419139e-06, + "observation_loss": 4.404924766276963e-06, + "chamfer": 3.684944658743916e-06, + "track": 7.199802212198847e-07, + "acceleration": 1.0825508525158511e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.76150762551697e-06, + "observation_loss": 4.162731329415692e-06, + "chamfer": 3.4866434361902066e-06, + "track": 6.760879500689043e-07, + "acceleration": 5.987763529446966e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.609681582223857e-06, + "observation_loss": 3.985223884228617e-06, + "chamfer": 3.3436288049415452e-06, + "track": 6.415952498173283e-07, + "acceleration": 6.244575274649833e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.395421910885489e-06, + "observation_loss": 3.9118881431932095e-06, + "chamfer": 3.2871989787963685e-06, + "track": 6.246890507100034e-07, + "acceleration": 4.835339382225357e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.29207057095482e-06, + "observation_loss": 3.989057859143941e-06, + "chamfer": 3.3512308164063143e-06, + "track": 6.378270995810453e-07, + "acceleration": 3.0301282549771713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.502271622186527e-06, + "observation_loss": 4.356196768640075e-06, + "chamfer": 3.651366796475486e-06, + "track": 7.048300290080078e-07, + "acceleration": 1.4607464038363105e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.88627711092704e-06, + "observation_loss": 4.7939956857590005e-06, + "chamfer": 4.003449248557445e-06, + "track": 7.905464372015558e-07, + "acceleration": 9.228131858662891e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.191790933167795e-06, + "observation_loss": 5.088275429443456e-06, + "chamfer": 4.245999207341811e-06, + "track": 8.42276051571389e-07, + "acceleration": 1.0351529056151776e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.385194981499808e-06, + "observation_loss": 5.277951004245551e-06, + "chamfer": 4.4080270527047105e-06, + "track": 8.699240652276785e-07, + "acceleration": 1.072439772542566e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.329329724190757e-06, + "observation_loss": 5.267938831821084e-06, + "chamfer": 4.403699222166324e-06, + "track": 8.6423960965476e-07, + "acceleration": 6.139089236967266e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.283539849187946e-06, + "observation_loss": 5.159743068361422e-06, + "chamfer": 4.315169462643098e-06, + "track": 8.44573605718324e-07, + "acceleration": 1.2379689451336162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.011761913920054e-06, + "observation_loss": 4.809633537661284e-06, + "chamfer": 4.0275540413858835e-06, + "track": 7.820794962754007e-07, + "acceleration": 2.02128276782787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.762873686559033e-06, + "observation_loss": 4.4219254959898535e-06, + "chamfer": 3.706445113493828e-06, + "track": 7.154803256526066e-07, + "acceleration": 3.4094838952114515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.452827397471992e-06, + "observation_loss": 4.264118615537882e-06, + "chamfer": 3.5716755064640893e-06, + "track": 6.924431659172114e-07, + "acceleration": 1.8870899509693118e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.394132247398375e-06, + "observation_loss": 4.267337317287456e-06, + "chamfer": 3.570136868802365e-06, + "track": 6.972003916416725e-07, + "acceleration": 1.267947737915165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.519846243056236e-06, + "observation_loss": 4.214107320876792e-06, + "chamfer": 3.5248169751866953e-06, + "track": 6.892902888466779e-07, + "acceleration": 3.0573883691431547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.41752217739122e-06, + "observation_loss": 4.032478500448633e-06, + "chamfer": 3.3762505609047366e-06, + "track": 6.562281669175718e-07, + "acceleration": 3.8504381905113405e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.570368673739722e-06, + "observation_loss": 3.917576577805448e-06, + "chamfer": 3.2850371098902542e-06, + "track": 6.325395816020318e-07, + "acceleration": 6.527920959342737e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.7630583139834926e-06, + "observation_loss": 3.974518222094048e-06, + "chamfer": 3.3269209325226257e-06, + "track": 6.475972895714222e-07, + "acceleration": 7.885401487328636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.520763013715623e-06, + "observation_loss": 4.1034909372683614e-06, + "chamfer": 3.4166644127253676e-06, + "track": 6.868262971693184e-07, + "acceleration": 4.172720764472615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.668788733397378e-06, + "observation_loss": 4.375869139039423e-06, + "chamfer": 3.6221088066668017e-06, + "track": 7.53760161842365e-07, + "acceleration": 2.9291959435795434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.081800736661535e-06, + "observation_loss": 4.7333874135802034e-06, + "chamfer": 3.8955190575507e-06, + "track": 8.378684128729219e-07, + "acceleration": 3.484132946596219e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.317521299730288e-06, + "observation_loss": 4.8646975301380735e-06, + "chamfer": 3.997582552983658e-06, + "track": 8.671151476846717e-07, + "acceleration": 4.528237980139238e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.430750206869561e-06, + "observation_loss": 4.800493570655817e-06, + "chamfer": 3.943194769817637e-06, + "track": 8.572989145250176e-07, + "acceleration": 6.302566362137441e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.21387801200035e-06, + "observation_loss": 4.819954483537003e-06, + "chamfer": 3.966762051277328e-06, + "track": 8.531926596333506e-07, + "acceleration": 3.939235284633469e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.3654266594094224e-06, + "observation_loss": 5.08244465891039e-06, + "chamfer": 4.184559202258242e-06, + "track": 8.978852861218911e-07, + "acceleration": 2.829819436556136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.6490466704417486e-06, + "observation_loss": 5.406208856584271e-06, + "chamfer": 4.4370453906594776e-06, + "track": 9.691635796116316e-07, + "acceleration": 2.428376433272206e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.929399776505306e-06, + "observation_loss": 5.8081382121599745e-06, + "chamfer": 4.760016963700764e-06, + "track": 1.0481213621460483e-06, + "acceleration": 1.2126145065849414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.282651156652719e-06, + "observation_loss": 6.084721917432034e-06, + "chamfer": 4.970152531313943e-06, + "track": 1.114569272431254e-06, + "acceleration": 1.9792936711837683e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.312180175882531e-06, + "observation_loss": 6.129131634224905e-06, + "chamfer": 5.011999292037217e-06, + "track": 1.11713222850085e-06, + "acceleration": 1.8304868376617378e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.3304159994004294e-06, + "observation_loss": 6.0753773141186684e-06, + "chamfer": 4.9652749112283345e-06, + "track": 1.1101021755166585e-06, + "acceleration": 2.55038486329795e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.759514235454844e-06, + "observation_loss": 6.146070518298075e-06, + "chamfer": 5.003600563213695e-06, + "track": 1.142469841397542e-06, + "acceleration": 6.134437740001886e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.82187908043852e-06, + "observation_loss": 6.280436082306551e-06, + "chamfer": 5.1026531764364336e-06, + "track": 1.1777827921832795e-06, + "acceleration": 1.5414431118188077e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.696290595049504e-06, + "observation_loss": 6.019283318892121e-06, + "chamfer": 4.9101900003734045e-06, + "track": 1.1090934322055546e-06, + "acceleration": 1.6770072761573829e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 7.0930645961198024e-06, + "observation_loss": 5.653431344398996e-06, + "chamfer": 4.62076877738582e-06, + "track": 1.0326624533263384e-06, + "acceleration": 1.4396331380339689e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.453072612406686e-06, + "observation_loss": 5.454277925309725e-06, + "chamfer": 4.4608855205297004e-06, + "track": 9.93392291093187e-07, + "acceleration": 1.9987949144706363e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.48496438266011e-06, + "observation_loss": 5.634291937894886e-06, + "chamfer": 4.5861115722800605e-06, + "track": 1.0481804793016636e-06, + "acceleration": 2.8506726721388986e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.982533134054393e-06, + "observation_loss": 5.820094884256832e-06, + "chamfer": 4.708180313173216e-06, + "track": 1.1119146847704542e-06, + "acceleration": 2.162438022423885e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.132237442419864e-06, + "observation_loss": 5.990736099192873e-06, + "chamfer": 4.833113962376956e-06, + "track": 1.1576219094422413e-06, + "acceleration": 1.1415012295401539e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.634922440047376e-06, + "observation_loss": 6.101213330111932e-06, + "chamfer": 4.917325441056164e-06, + "track": 1.1838876616820926e-06, + "acceleration": 1.5337088825617684e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.746970368316397e-06, + "observation_loss": 6.178512649057666e-06, + "chamfer": 4.97337259730557e-06, + "track": 1.205140051752096e-06, + "acceleration": 1.5684580603192444e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.167274361563614e-06, + "observation_loss": 6.300317636487307e-06, + "chamfer": 5.069760845799465e-06, + "track": 1.23055690437468e-06, + "acceleration": 8.669566113894689e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.202978849818464e-06, + "observation_loss": 6.755902631994104e-06, + "chamfer": 5.413889084593393e-06, + "track": 1.3420134337138734e-06, + "acceleration": 4.4707630308948865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.717605512880255e-06, + "observation_loss": 7.334795100177871e-06, + "chamfer": 5.8264586186851375e-06, + "track": 1.5083364814927336e-06, + "acceleration": 3.82809986376742e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.19374054117361e-06, + "observation_loss": 7.672944775549695e-06, + "chamfer": 6.074222710594768e-06, + "track": 1.5987216102075763e-06, + "acceleration": 5.207961066844291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.257938134192955e-06, + "observation_loss": 7.5509124144446105e-06, + "chamfer": 5.993480954202823e-06, + "track": 1.5574313465549494e-06, + "acceleration": 7.070256629049254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.942068805277813e-06, + "observation_loss": 7.335509053518763e-06, + "chamfer": 5.842986865900457e-06, + "track": 1.4925223013051436e-06, + "acceleration": 6.06559922289307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.456344519596314e-06, + "observation_loss": 7.144214123400161e-06, + "chamfer": 5.697263986803591e-06, + "track": 1.446950022909732e-06, + "acceleration": 3.1213053830470017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.125971478672e-06, + "observation_loss": 6.982440027059056e-06, + "chamfer": 5.57440216653049e-06, + "track": 1.408037860528566e-06, + "acceleration": 1.4353133792610606e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1012514126778115e-06, + "observation_loss": 6.987850611039903e-06, + "chamfer": 5.57434577785898e-06, + "track": 1.4135046058072476e-06, + "acceleration": 1.1340078032162637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.166747309383936e-06, + "observation_loss": 7.038041076157242e-06, + "chamfer": 5.601791599474382e-06, + "track": 1.4362495903696981e-06, + "acceleration": 1.2870641796780546e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.197356353572104e-06, + "observation_loss": 7.123670911823865e-06, + "chamfer": 5.662129296979401e-06, + "track": 1.4615413874707883e-06, + "acceleration": 7.368547016994853e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.405354153888766e-06, + "observation_loss": 7.212993295979686e-06, + "chamfer": 5.715027327823918e-06, + "track": 1.49796585446893e-06, + "acceleration": 1.9236077264395135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.861270205467008e-06, + "observation_loss": 7.301163805095712e-06, + "chamfer": 5.782646439911332e-06, + "track": 1.5185173651843797e-06, + "acceleration": 5.601064572147152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.639543011668138e-06, + "observation_loss": 7.456849289155798e-06, + "chamfer": 5.887734914722387e-06, + "track": 1.569114488120249e-06, + "acceleration": 1.182693381451827e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.350172149424907e-06, + "observation_loss": 7.623996680194978e-06, + "chamfer": 6.017197847540956e-06, + "track": 1.6067988326540217e-06, + "acceleration": 1.7261756966036046e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.86126872501336e-06, + "observation_loss": 7.813120646460447e-06, + "chamfer": 6.163907983136596e-06, + "track": 1.6492126633238513e-06, + "acceleration": 1.0481478511792375e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.637735845695715e-06, + "observation_loss": 8.190879270841833e-06, + "chamfer": 6.4353989728260785e-06, + "track": 1.7554804117025924e-06, + "acceleration": 4.4685651801046333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.033621608978137e-06, + "observation_loss": 8.717494893062394e-06, + "chamfer": 6.7952214521938e-06, + "track": 1.9222734408685938e-06, + "acceleration": 3.161265453854867e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.452773156226613e-06, + "observation_loss": 9.33047977014212e-06, + "chamfer": 7.2134921538236085e-06, + "track": 2.116987616318511e-06, + "acceleration": 1.2229317292167252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.77807394519914e-06, + "observation_loss": 9.67900086834561e-06, + "chamfer": 7.4511835919111036e-06, + "track": 2.2278168216871563e-06, + "acceleration": 9.907341080861443e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0212806046183687e-05, + "observation_loss": 9.91288834484294e-06, + "chamfer": 7.6125379564473405e-06, + "track": 2.300350843142951e-06, + "acceleration": 2.99917957136131e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0350192496844102e-05, + "observation_loss": 1.0157721590076108e-05, + "chamfer": 7.760942025925033e-06, + "track": 2.3967795641510747e-06, + "acceleration": 1.924712194067979e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0409001333755441e-05, + "observation_loss": 1.0281304639647715e-05, + "chamfer": 7.83545783633599e-06, + "track": 2.445847258059075e-06, + "acceleration": 1.2769709201165824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.050544778991025e-05, + "observation_loss": 1.0150226444238797e-05, + "chamfer": 7.743881724309176e-06, + "track": 2.4063451746769715e-06, + "acceleration": 3.5522097618923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0736810509115458e-05, + "observation_loss": 9.829251212067902e-06, + "chamfer": 7.544932941527804e-06, + "track": 2.284317815792747e-06, + "acceleration": 9.075589559870423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0227166967524681e-05, + "observation_loss": 9.64628725341754e-06, + "chamfer": 7.414981610054383e-06, + "track": 2.231305415989482e-06, + "acceleration": 5.808801120110729e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.711784514365718e-06, + "observation_loss": 9.475281331106089e-06, + "chamfer": 7.293280759768095e-06, + "track": 2.1820001165906433e-06, + "acceleration": 2.3650348168757773e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.453521670366172e-06, + "observation_loss": 9.209246854879893e-06, + "chamfer": 7.09649020791403e-06, + "track": 2.1127564195921877e-06, + "acceleration": 2.442748439079878e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.292170943808742e-06, + "observation_loss": 8.966611858340912e-06, + "chamfer": 6.925034540472552e-06, + "track": 2.0415777726157103e-06, + "acceleration": 3.2555882967244543e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.0660825864761136e-05, + "observation_loss": 9.094672350329347e-06, + "chamfer": 7.0014389166317414e-06, + "track": 2.0932334336976055e-06, + "acceleration": 1.5661530596844386e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1899877790710889e-05, + "observation_loss": 9.274858712160494e-06, + "chamfer": 7.100392849679338e-06, + "track": 2.174465635107481e-06, + "acceleration": 2.6250186238030437e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2002044059045147e-05, + "observation_loss": 9.31400791159831e-06, + "chamfer": 7.147053565859096e-06, + "track": 2.1669543457392137e-06, + "acceleration": 2.688035920073162e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.084975701814983e-05, + "observation_loss": 9.295561540056951e-06, + "chamfer": 7.1092977123043966e-06, + "track": 2.1862640551262302e-06, + "acceleration": 1.5541953644060413e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.056511882779887e-05, + "observation_loss": 9.299279554397799e-06, + "chamfer": 7.102080871845828e-06, + "track": 2.19719822780462e-06, + "acceleration": 1.2658395007747458e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0253444088448305e-05, + "observation_loss": 9.424446034245193e-06, + "chamfer": 7.1810572990216315e-06, + "track": 2.2433891899709124e-06, + "acceleration": 8.289977699860174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 1.0024615221482236e-05, + "observation_loss": 9.568711902829818e-06, + "chamfer": 7.2523275775893126e-06, + "track": 2.316383870493155e-06, + "acceleration": 4.5590317654387036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.880316611088347e-06, + "observation_loss": 9.763169146026485e-06, + "chamfer": 7.377589099633042e-06, + "track": 2.3855802737671183e-06, + "acceleration": 1.1714750058899881e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.012299890135182e-05, + "observation_loss": 1.0038567779702134e-05, + "chamfer": 7.569720764877275e-06, + "track": 2.468846560077509e-06, + "acceleration": 8.443125665280604e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0367528375354595e-05, + "observation_loss": 1.0251463208987843e-05, + "chamfer": 7.715650099271443e-06, + "track": 2.5358131097164005e-06, + "acceleration": 1.1606542926756447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0438393474032637e-05, + "observation_loss": 1.0332849342375994e-05, + "chamfer": 7.759327672829386e-06, + "track": 2.5735221242939588e-06, + "acceleration": 1.0554438034660052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.055846041708719e-05, + "observation_loss": 1.0398544873169158e-05, + "chamfer": 7.800424100423697e-06, + "track": 2.5981207727454603e-06, + "acceleration": 1.5991577129170764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0627892152115237e-05, + "observation_loss": 1.0467844731465448e-05, + "chamfer": 7.83526775194332e-06, + "track": 2.632577206895803e-06, + "acceleration": 1.6004750591491756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0575350643193815e-05, + "observation_loss": 1.0489648957445752e-05, + "chamfer": 7.841995284252334e-06, + "track": 2.647653900567093e-06, + "acceleration": 8.570138732011401e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0715352800616529e-05, + "observation_loss": 1.0478313924977556e-05, + "chamfer": 7.833632480469532e-06, + "track": 2.6446818992553744e-06, + "acceleration": 2.370388045846994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0657791790436022e-05, + "observation_loss": 1.0538319656916428e-05, + "chamfer": 7.86679083830677e-06, + "track": 2.671529045983334e-06, + "acceleration": 1.1947206246532005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0720648788264953e-05, + "observation_loss": 1.0613061022013426e-05, + "chamfer": 7.90078138379613e-06, + "track": 2.712279410843621e-06, + "acceleration": 1.0758766677554377e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0762719284684863e-05, + "observation_loss": 1.0677485079213511e-05, + "chamfer": 7.94126663095085e-06, + "track": 2.7362182208889863e-06, + "acceleration": 8.523443995045454e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.083743973140372e-05, + "observation_loss": 1.0759893484646454e-05, + "chamfer": 7.989424375409726e-06, + "track": 2.7704695639840793e-06, + "acceleration": 7.75460762270086e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0828246558958199e-05, + "observation_loss": 1.07179030237603e-05, + "chamfer": 7.966350494825747e-06, + "track": 2.7515525289345533e-06, + "acceleration": 1.1034376257157419e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0675023986550514e-05, + "observation_loss": 1.0578763976809569e-05, + "chamfer": 7.879449185566045e-06, + "track": 2.6993143364961725e-06, + "acceleration": 9.625989605410723e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.258158461652934e-06, + "chamfer_mean": 5.525495431868421e-06, + "track_mean": 1.4898947039062211e-06, + "acceleration_mean": 1.2427683252861736e-06, + "observation_score": 7.015390143768248e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.428421567999976 + }, + "score_arrays_file": "pass_scores/pass_end_0358.npz", + "score_arrays_sha256": "1c270f995da173d41b01a199e8ea377efce2b2f524a1698906c147f4e81f5197" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0359.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0359.json new file mode 100644 index 0000000000000000000000000000000000000000..803eb574b83c94d312c505e530fa75f0c46e5ca7 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0359.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34464, + "completed_passes": 359, + "snapshot": "pass_end_0359", + "candidate": true, + "snapshot_arrays_sha256": "68efbf3992d4f1c3e07c70b0ba33b587195d0c32c7cc9a46667fa2b60d3f83d3", + "score": 7.009552390968565e-06, + "score_result": { + "score": 7.009552390968565e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8801111966458848e-06, + 3.1501710964221274e-06, + 3.2113482575368835e-06, + 3.6451285723160254e-06, + 4.1664866330393124e-06, + 4.404727860674029e-06, + 4.162830009590834e-06, + 3.984426712122513e-06, + 3.910870418621926e-06, + 3.987308900832431e-06, + 4.354651537141763e-06, + 4.792475465364987e-06, + 5.086971668788465e-06, + 5.276254796626745e-06, + 5.266562311589951e-06, + 5.158352450962411e-06, + 4.807776349480264e-06, + 4.419127435539849e-06, + 4.261277808836894e-06, + 4.265320967533626e-06, + 4.213153715681983e-06, + 4.0302093111677095e-06, + 3.913275122613413e-06, + 3.971041678596521e-06, + 4.100989372091135e-06, + 4.374391664896393e-06, + 4.727703071694123e-06, + 4.854493454331532e-06, + 4.790904768015025e-06, + 4.813942723558284e-06, + 5.077621153759537e-06, + 5.40663904757821e-06, + 5.812213203171268e-06, + 6.092510830058018e-06, + 6.135589501354843e-06, + 6.079321337892907e-06, + 6.145179668237688e-06, + 6.2649610299558844e-06, + 6.001243491482455e-06, + 5.640538802254014e-06, + 5.443372174340766e-06, + 5.628458893625066e-06, + 5.814472388010472e-06, + 5.9893427533097565e-06, + 6.103683517721947e-06, + 6.17924342805054e-06, + 6.298926564340945e-06, + 6.754831701982766e-06, + 7.342862318182597e-06, + 7.687502147746272e-06, + 7.563867711724015e-06, + 7.345822268689517e-06, + 7.152631042117719e-06, + 6.990221208980074e-06, + 6.99395877745701e-06, + 7.0438909460790455e-06, + 7.126397122192429e-06, + 7.215878667921061e-06, + 7.304729933821363e-06, + 7.462007488356903e-06, + 7.628548701177351e-06, + 7.82032475399319e-06, + 8.201458513212856e-06, + 8.731580237508751e-06, + 9.3457565526478e-06, + 9.693769243313e-06, + 9.925795893650502e-06, + 1.0170622772420757e-05, + 1.0293262675986625e-05, + 1.0156663847737946e-05, + 9.829165719565935e-06, + 9.641141332394909e-06, + 9.467339623370208e-06, + 9.199543455906678e-06, + 8.95105222298298e-06, + 9.077316462935414e-06, + 9.248403330275323e-06, + 9.283474355470389e-06, + 9.264011168852448e-06, + 9.270719601772726e-06, + 9.395309461979195e-06, + 9.540430255583487e-06, + 9.73703481577104e-06, + 1.0009578545577824e-05, + 1.0222952369076665e-05, + 1.0306487638445105e-05, + 1.037143465509871e-05, + 1.0440275218570605e-05, + 1.0461980309628416e-05, + 1.0450755326019134e-05, + 1.0508732884773053e-05, + 1.0582025424810126e-05, + 1.0647056114976294e-05, + 1.0728866072895471e-05, + 1.0686623681976926e-05, + 1.0547331839916296e-05 + ] + ], + "episode_mean_losses": [ + 7.009552390968565e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8801111966458848e-06, + "observation_loss": 2.8801111966458848e-06, + "chamfer": 2.4424823550361907e-06, + "track": 4.376288984531129e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.176630318397656e-05, + "observation_loss": 3.1501710964221274e-06, + "chamfer": 2.664055273271515e-06, + "track": 4.861158799940313e-07, + "acceleration": 3.861613367917016e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3021077140583657e-05, + "observation_loss": 3.2113482575368835e-06, + "chamfer": 2.71986596089846e-06, + "track": 4.914822397950047e-07, + "acceleration": 1.98097295651678e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.005679223453626e-05, + "observation_loss": 3.6451285723160254e-06, + "chamfer": 3.074622782150982e-06, + "track": 5.705057333216246e-07, + "acceleration": 6.4116638895939104e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.682285518560093e-06, + "observation_loss": 4.1664866330393124e-06, + "chamfer": 3.49485299011576e-06, + "track": 6.716337566103903e-07, + "acceleration": 1.5157988855207805e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.489464456331916e-06, + "observation_loss": 4.404727860674029e-06, + "chamfer": 3.6847484352620086e-06, + "track": 7.199793117251829e-07, + "acceleration": 1.0847363682842115e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.761106538353488e-06, + "observation_loss": 4.162830009590834e-06, + "chamfer": 3.486666855678777e-06, + "track": 6.761633812857326e-07, + "acceleration": 5.982764719192346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.611114036379149e-06, + "observation_loss": 3.984426712122513e-06, + "chamfer": 3.3429062114009866e-06, + "track": 6.415205007215263e-07, + "acceleration": 6.266874947868928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.394403276819503e-06, + "observation_loss": 3.910870418621926e-06, + "chamfer": 3.2862878924788674e-06, + "track": 6.245826966733148e-07, + "acceleration": 4.83532971884415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.289829576009652e-06, + "observation_loss": 3.987308900832431e-06, + "chamfer": 3.349726057422231e-06, + "track": 6.375827297233627e-07, + "acceleration": 3.025206467555108e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.501025159697747e-06, + "observation_loss": 4.354651537141763e-06, + "chamfer": 3.6500548503681784e-06, + "track": 7.045965162433276e-07, + "acceleration": 1.4637366518854833e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.88516934638028e-06, + "observation_loss": 4.792475465364987e-06, + "chamfer": 4.002151399618015e-06, + "track": 7.903240089035535e-07, + "acceleration": 9.269403733469517e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.190701358515071e-06, + "observation_loss": 5.086971668788465e-06, + "chamfer": 4.244871888658963e-06, + "track": 8.420996664426639e-07, + "acceleration": 1.0372973235917016e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.383852567319991e-06, + "observation_loss": 5.276254796626745e-06, + "chamfer": 4.406582775118295e-06, + "track": 8.696720783518685e-07, + "acceleration": 1.0759757174128026e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.32813101017382e-06, + "observation_loss": 5.266562311589951e-06, + "chamfer": 4.402541890158318e-06, + "track": 8.640204214316327e-07, + "acceleration": 6.156883358698906e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.282349775370676e-06, + "observation_loss": 5.158352450962411e-06, + "chamfer": 4.314009402150987e-06, + "track": 8.443429919680057e-07, + "acceleration": 1.2399715387800825e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.009972937841667e-06, + "observation_loss": 4.807776349480264e-06, + "chamfer": 4.025998805445852e-06, + "track": 7.817773166607367e-07, + "acceleration": 2.0219663099396712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.760770025313832e-06, + "observation_loss": 4.419127435539849e-06, + "chamfer": 3.704114533320535e-06, + "track": 7.150131295929896e-07, + "acceleration": 3.416427318825299e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.450685082701966e-06, + "observation_loss": 4.261277808836894e-06, + "chamfer": 3.569266937120119e-06, + "track": 6.920109285601939e-07, + "acceleration": 1.8940734491934563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.391223683342105e-06, + "observation_loss": 4.265320967533626e-06, + "chamfer": 3.5683910937223118e-06, + "track": 6.96929816967895e-07, + "acceleration": 1.259027015976244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5202082219475415e-06, + "observation_loss": 4.213153715681983e-06, + "chamfer": 3.523935902194353e-06, + "track": 6.892176998007926e-07, + "acceleration": 3.070543073135923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.418905064085266e-06, + "observation_loss": 4.0302093111677095e-06, + "chamfer": 3.3742780942702666e-06, + "track": 6.559314442711184e-07, + "acceleration": 3.886956676524278e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.569971679302398e-06, + "observation_loss": 3.913275122613413e-06, + "chamfer": 3.281330236859503e-06, + "track": 6.319448289104912e-07, + "acceleration": 6.566965566889849e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.763016477227211e-06, + "observation_loss": 3.971041678596521e-06, + "chamfer": 3.323877535876818e-06, + "track": 6.471642564065405e-07, + "acceleration": 7.919749123175279e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.511966835707426e-06, + "observation_loss": 4.100989372091135e-06, + "chamfer": 3.4144488836318487e-06, + "track": 6.865403747724486e-07, + "acceleration": 4.1097743519458163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.665023880079389e-06, + "observation_loss": 4.374391664896393e-06, + "chamfer": 3.6206733966537286e-06, + "track": 7.537182682426646e-07, + "acceleration": 2.9063198780932e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.078330104879569e-06, + "observation_loss": 4.727703071694123e-06, + "chamfer": 3.890982043230906e-06, + "track": 8.367209716197976e-07, + "acceleration": 3.506271752939938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.315638190950267e-06, + "observation_loss": 4.854493454331532e-06, + "chamfer": 3.989713604823919e-06, + "track": 8.647798495076131e-07, + "acceleration": 4.611445660884783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.419436092779506e-06, + "observation_loss": 4.790904768015025e-06, + "chamfer": 3.93559366784757e-06, + "track": 8.55311157010874e-07, + "acceleration": 6.285311542342242e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.1883471314795315e-06, + "observation_loss": 4.813942723558284e-06, + "chamfer": 3.961641141358996e-06, + "track": 8.523015253558697e-07, + "acceleration": 3.744044931863755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.345838417269988e-06, + "observation_loss": 5.077621153759537e-06, + "chamfer": 4.180395535513526e-06, + "track": 8.972254477157549e-07, + "acceleration": 2.6821740561899787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.632254669762915e-06, + "observation_loss": 5.40663904757821e-06, + "chamfer": 4.437059033080004e-06, + "track": 9.695799008113681e-07, + "acceleration": 2.256154516544484e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.927860456722556e-06, + "observation_loss": 5.812213203171268e-06, + "chamfer": 4.762756361742504e-06, + "track": 1.0494568414287642e-06, + "acceleration": 1.1564733171098851e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.290277724474436e-06, + "observation_loss": 6.092510830058018e-06, + "chamfer": 4.975804586138111e-06, + "track": 1.1167061302330694e-06, + "acceleration": 1.9776682336214435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.319638941931771e-06, + "observation_loss": 6.135589501354843e-06, + "chamfer": 5.016706381866243e-06, + "track": 1.118883005801763e-06, + "acceleration": 1.8404936952265416e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.302659585344372e-06, + "observation_loss": 6.079321337892907e-06, + "chamfer": 4.968701887264615e-06, + "track": 1.1106194506282918e-06, + "acceleration": 2.2333804849949956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.5524868659849744e-06, + "observation_loss": 6.145179668237688e-06, + "chamfer": 5.003513251722325e-06, + "track": 1.1416663028285257e-06, + "acceleration": 4.073069987953204e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.400725280604092e-06, + "observation_loss": 6.2649610299558844e-06, + "chamfer": 5.092262654216029e-06, + "track": 1.172698262053018e-06, + "acceleration": 1.1357641369613702e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.381046088994481e-06, + "observation_loss": 6.001243491482455e-06, + "chamfer": 4.897742201137589e-06, + "track": 1.1035015177185414e-06, + "acceleration": 1.3798028248857008e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.892503733979538e-06, + "observation_loss": 5.640538802254014e-06, + "chamfer": 4.61223771708319e-06, + "track": 1.0283011988576618e-06, + "acceleration": 1.251965045412362e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.170163826231146e-06, + "observation_loss": 5.443372174340766e-06, + "chamfer": 4.4531429921335075e-06, + "track": 9.90228954833583e-07, + "acceleration": 1.726791765577218e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.268399142252747e-06, + "observation_loss": 5.628458893625066e-06, + "chamfer": 4.581541816151002e-06, + "track": 1.0469173048477387e-06, + "acceleration": 2.639940021254006e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 8.079679901129566e-06, + "observation_loss": 5.814472388010472e-06, + "chamfer": 4.703761533164652e-06, + "track": 1.11071085484582e-06, + "acceleration": 2.265207058371743e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.25329073247849e-06, + "observation_loss": 5.9893427533097565e-06, + "chamfer": 4.832140803046059e-06, + "track": 1.1572019502636977e-06, + "acceleration": 1.2639480928555713e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.445947630912997e-06, + "observation_loss": 6.103683517721947e-06, + "chamfer": 4.919294951832853e-06, + "track": 1.1843886795759317e-06, + "acceleration": 1.342264340564725e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.767042916384526e-06, + "observation_loss": 6.17924342805054e-06, + "chamfer": 4.973952854925301e-06, + "track": 1.2052905731252395e-06, + "acceleration": 1.5877997157076607e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.238966645672917e-06, + "observation_loss": 6.298926564340945e-06, + "chamfer": 5.068591690360336e-06, + "track": 1.230334760293772e-06, + "acceleration": 9.400402518622286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.246260338433785e-06, + "observation_loss": 6.754831701982766e-06, + "chamfer": 5.41309236723464e-06, + "track": 1.3417394484349643e-06, + "acceleration": 4.914285227641813e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.685993296036031e-06, + "observation_loss": 7.342862318182597e-06, + "chamfer": 5.832577699038666e-06, + "track": 1.510284732830769e-06, + "acceleration": 3.4313134733565676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.160497600329109e-06, + "observation_loss": 7.687502147746272e-06, + "chamfer": 6.084707365516806e-06, + "track": 1.6027946685426286e-06, + "acceleration": 4.7299499783548526e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.283627721539233e-06, + "observation_loss": 7.563867711724015e-06, + "chamfer": 6.0028369261999615e-06, + "track": 1.5610308992108912e-06, + "acceleration": 7.197600666586368e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.867864042054862e-06, + "observation_loss": 7.345822268689517e-06, + "chamfer": 5.8505106608208735e-06, + "track": 1.4953114941818058e-06, + "acceleration": 5.22041318617994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.539420494140359e-06, + "observation_loss": 7.152631042117719e-06, + "chamfer": 5.703306669602171e-06, + "track": 1.4493241451418726e-06, + "acceleration": 3.8678945202264003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.11207485437626e-06, + "observation_loss": 6.990221208980074e-06, + "chamfer": 5.5800551308493596e-06, + "track": 1.4101659644438769e-06, + "acceleration": 1.2185347486592946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.116224423953099e-06, + "observation_loss": 6.99395877745701e-06, + "chamfer": 5.578798209171509e-06, + "track": 1.415160795659176e-06, + "acceleration": 1.2226543333326845e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.1716203819960356e-06, + "observation_loss": 7.0438909460790455e-06, + "chamfer": 5.606080776487943e-06, + "track": 1.4378099422174273e-06, + "acceleration": 1.2772964907981077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.202059805422323e-06, + "observation_loss": 7.126397122192429e-06, + "chamfer": 5.6638064052094705e-06, + "track": 1.4625908306697966e-06, + "acceleration": 7.566251269963686e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4089398367505055e-06, + "observation_loss": 7.215878667921061e-06, + "chamfer": 5.716843588743359e-06, + "track": 1.4990350791777018e-06, + "acceleration": 1.930609840883335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.862556230975315e-06, + "observation_loss": 7.304729933821363e-06, + "chamfer": 5.784905624750536e-06, + "track": 1.5198241953839897e-06, + "acceleration": 5.578264676842082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.649646588310134e-06, + "observation_loss": 7.462007488356903e-06, + "chamfer": 5.89127103012288e-06, + "track": 1.5707364582340233e-06, + "acceleration": 1.1876390999532305e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.358021998195909e-06, + "observation_loss": 7.628548701177351e-06, + "chamfer": 6.0199513427505735e-06, + "track": 1.608597585800453e-06, + "acceleration": 1.7294734107053955e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.870955753081944e-06, + "observation_loss": 7.82032475399319e-06, + "chamfer": 6.168670097395079e-06, + "track": 1.6516542018507607e-06, + "acceleration": 1.0506311127755907e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.649712071928661e-06, + "observation_loss": 8.201458513212856e-06, + "chamfer": 6.442369794967817e-06, + "track": 1.759088604558201e-06, + "acceleration": 4.482531892335828e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.047449566423893e-06, + "observation_loss": 8.731580237508751e-06, + "chamfer": 6.804435543017462e-06, + "track": 1.927144921864965e-06, + "acceleration": 3.1586927207172266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.467156814935151e-06, + "observation_loss": 9.3457565526478e-06, + "chamfer": 7.223179636639543e-06, + "track": 2.122577143381932e-06, + "acceleration": 1.214005180827371e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.791923730517738e-06, + "observation_loss": 9.693769243313e-06, + "chamfer": 7.46024124964606e-06, + "track": 2.2335279936669394e-06, + "acceleration": 9.815486379238791e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0224620382359717e-05, + "observation_loss": 9.925795893650502e-06, + "chamfer": 7.620118140039267e-06, + "track": 2.3056779809849104e-06, + "acceleration": 2.988248866131471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0363376532041002e-05, + "observation_loss": 1.0170622772420757e-05, + "chamfer": 7.768684554321226e-06, + "track": 2.4019379907258553e-06, + "acceleration": 1.9275388751793798e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0421663318993524e-05, + "observation_loss": 1.0293262675986625e-05, + "chamfer": 7.842554623493925e-06, + "track": 2.4507080524927005e-06, + "acceleration": 1.2840098406741163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.051679009833606e-05, + "observation_loss": 1.0156663847737946e-05, + "chamfer": 7.747087693132926e-06, + "track": 2.4095766093523707e-06, + "acceleration": 3.6012667692375544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0746632142399903e-05, + "observation_loss": 9.829165719565935e-06, + "chamfer": 7.5440834734763484e-06, + "track": 2.285082700836938e-06, + "acceleration": 9.174662523037114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.022388823912479e-05, + "observation_loss": 9.641141332394909e-06, + "chamfer": 7.410580565192504e-06, + "track": 2.2305607672024053e-06, + "acceleration": 5.827473614772316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.703830983198714e-06, + "observation_loss": 9.467339623370208e-06, + "chamfer": 7.2870620897447225e-06, + "track": 2.18027730625181e-06, + "acceleration": 2.364914877261981e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.440738722332753e-06, + "observation_loss": 9.199543455906678e-06, + "chamfer": 7.089486189215677e-06, + "track": 2.110057266691001e-06, + "acceleration": 2.411948685221432e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.24256892176345e-06, + "observation_loss": 8.95105222298298e-06, + "chamfer": 6.913073775649536e-06, + "track": 2.0379786747071194e-06, + "acceleration": 2.9151664193705074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.0439065590617247e-05, + "observation_loss": 9.077316462935414e-06, + "chamfer": 6.989858320594067e-06, + "track": 2.0874581423413474e-06, + "acceleration": 1.361749468742346e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1915700270037632e-05, + "observation_loss": 9.248403330275323e-06, + "chamfer": 7.0810842771606985e-06, + "track": 2.1673192804883e-06, + "acceleration": 2.6672971671359846e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2060574590577744e-05, + "observation_loss": 9.283474355470389e-06, + "chamfer": 7.125365755200619e-06, + "track": 2.158108372896095e-06, + "acceleration": 2.7771000077336794e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0833968190127052e-05, + "observation_loss": 9.264011168852448e-06, + "chamfer": 7.086879122653045e-06, + "track": 2.1771325009467546e-06, + "acceleration": 1.569956566527253e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0586601092654746e-05, + "observation_loss": 9.270719601772726e-06, + "chamfer": 7.081814146658871e-06, + "track": 2.188905909861205e-06, + "acceleration": 1.315881263508345e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0233376997348387e-05, + "observation_loss": 9.395309461979195e-06, + "chamfer": 7.16121394361835e-06, + "track": 2.234095063613495e-06, + "acceleration": 8.380679332731233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.99092935671797e-06, + "observation_loss": 9.540430255583487e-06, + "chamfer": 7.233200904011028e-06, + "track": 2.307229124198784e-06, + "acceleration": 4.504990158693545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.852135917753913e-06, + "observation_loss": 9.73703481577104e-06, + "chamfer": 7.360245945164934e-06, + "track": 2.3767890979797812e-06, + "acceleration": 1.1510088171462485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0095814104715828e-05, + "observation_loss": 1.0009578545577824e-05, + "chamfer": 7.5500311140785925e-06, + "track": 2.4595474314992316e-06, + "acceleration": 8.623549518915752e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0341464985685889e-05, + "observation_loss": 1.0222952369076665e-05, + "chamfer": 7.696321517869364e-06, + "track": 2.526630851207301e-06, + "acceleration": 1.1851246739524868e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0414128155389335e-05, + "observation_loss": 1.0306487638445105e-05, + "chamfer": 7.742038178548682e-06, + "track": 2.564449459896423e-06, + "acceleration": 1.0764024693799001e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0532821761444211e-05, + "observation_loss": 1.037143465509871e-05, + "chamfer": 7.782410648360383e-06, + "track": 2.589023779364652e-06, + "acceleration": 1.6138676528498763e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.060125396179501e-05, + "observation_loss": 1.0440275218570605e-05, + "chamfer": 7.817350706318393e-06, + "track": 2.6229245122522116e-06, + "acceleration": 1.6097854427243874e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0547525562287774e-05, + "observation_loss": 1.0461980309628416e-05, + "chamfer": 7.824003660061862e-06, + "track": 2.6379766495665535e-06, + "acceleration": 8.554540897875995e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0685521374398377e-05, + "observation_loss": 1.0450755326019134e-05, + "chamfer": 7.81579456088366e-06, + "track": 2.634960537761799e-06, + "acceleration": 2.3476643207231973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0627348274283577e-05, + "observation_loss": 1.0508732884773053e-05, + "chamfer": 7.847703273000661e-06, + "track": 2.6610298391460674e-06, + "acceleration": 1.1861501292287358e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0690338058338966e-05, + "observation_loss": 1.0582025424810126e-05, + "chamfer": 7.880632438173052e-06, + "track": 2.7013934413844254e-06, + "acceleration": 1.0831251273657472e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.07319074231782e-05, + "observation_loss": 1.0647056114976294e-05, + "chamfer": 7.921717951830942e-06, + "track": 2.725338163145352e-06, + "acceleration": 8.485132951818741e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0806083082570694e-05, + "observation_loss": 1.0728866072895471e-05, + "chamfer": 7.969605576363392e-06, + "track": 2.7592602691584034e-06, + "acceleration": 7.721718020547996e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.079721641872311e-05, + "observation_loss": 1.0686623681976926e-05, + "chamfer": 7.946323421492707e-06, + "track": 2.7403002604842186e-06, + "acceleration": 1.1059290727644111e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0643651876307558e-05, + "observation_loss": 1.0547331839916296e-05, + "chamfer": 7.859344805183355e-06, + "track": 2.6879870347329415e-06, + "acceleration": 9.631985875557803e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.236036836232566e-06, + "chamfer_mean": 5.521391569137298e-06, + "track_mean": 1.4881608301209326e-06, + "acceleration_mean": 1.2264844637677186e-06, + "observation_score": 7.009552390968565e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4288561360008316 + }, + "score_arrays_file": "pass_scores/pass_end_0359.npz", + "score_arrays_sha256": "d1f2ef33b12a27e37cd56382fa06609a3604ee1d7bef3721c9d661fde53e3b45" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0360.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0360.json new file mode 100644 index 0000000000000000000000000000000000000000..705de1116424657562a4583a0feeadc16bdad65c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0360.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34560, + "completed_passes": 360, + "snapshot": "pass_end_0360", + "candidate": true, + "snapshot_arrays_sha256": "6bc9bdf1e1dad3786bf6b92c1e9a3a5f5740c33fe72e9c6c9950dfd6a4c3eaeb", + "score": 7.009285750333068e-06, + "score_result": { + "score": 7.009285750333068e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.88046271634812e-06, + 3.1499998840445187e-06, + 3.2101213491841918e-06, + 3.6436779282666976e-06, + 4.164416168350726e-06, + 4.402606009534793e-06, + 4.160946446063463e-06, + 3.982395355706103e-06, + 3.908463440893684e-06, + 3.984633622167166e-06, + 4.3513396121852566e-06, + 4.787621946888976e-06, + 5.081338713353034e-06, + 5.270177553029498e-06, + 5.260028501652414e-06, + 5.151823188498383e-06, + 4.802046987606445e-06, + 4.413825081428513e-06, + 4.257216914993478e-06, + 4.2606752685969695e-06, + 4.206608082313323e-06, + 4.021476797788637e-06, + 3.905698577000294e-06, + 3.96748100683908e-06, + 4.1024691199709196e-06, + 4.380008249427192e-06, + 4.73129784950288e-06, + 4.853203790844418e-06, + 4.789251761394553e-06, + 4.8152278395718895e-06, + 5.080854862171691e-06, + 5.4129695854499005e-06, + 5.820089427288622e-06, + 6.10107872489607e-06, + 6.142267920949962e-06, + 6.084523647587048e-06, + 6.149348337203264e-06, + 6.265297997742891e-06, + 6.002038389851805e-06, + 5.640841663989704e-06, + 5.440330824058037e-06, + 5.6252392823807895e-06, + 5.809785307064885e-06, + 5.985265943309059e-06, + 6.101134204072878e-06, + 6.17580599282519e-06, + 6.293927981460001e-06, + 6.746377948729787e-06, + 7.335019290621858e-06, + 7.683172952965833e-06, + 7.55937662688666e-06, + 7.342334356508218e-06, + 7.151219051593216e-06, + 6.9911129685351625e-06, + 6.996032425377052e-06, + 7.048331099213101e-06, + 7.131317943276372e-06, + 7.2200891736429185e-06, + 7.309885404538363e-06, + 7.467170235031517e-06, + 7.635307156306226e-06, + 7.828597517800517e-06, + 8.209770385292359e-06, + 8.740615157876164e-06, + 9.355183465231676e-06, + 9.703525392978918e-06, + 9.936129572452046e-06, + 1.0181768629990984e-05, + 1.0304887837264687e-05, + 1.0166205356654245e-05, + 9.836471690505277e-06, + 9.646493708714843e-06, + 9.471201337873936e-06, + 9.202482033288106e-06, + 8.954307304520626e-06, + 9.085525562113617e-06, + 9.257183592126239e-06, + 9.290351954405196e-06, + 9.267524546885397e-06, + 9.272380339098163e-06, + 9.39404435484903e-06, + 9.535940080240835e-06, + 9.731783393363003e-06, + 1.0003186616813764e-05, + 1.0216261216555722e-05, + 1.0299628229404334e-05, + 1.036494541040156e-05, + 1.043412703438662e-05, + 1.0455594747327268e-05, + 1.0443923201819416e-05, + 1.050188802764751e-05, + 1.057472218235489e-05, + 1.0639317224558908e-05, + 1.0721192666096613e-05, + 1.067923858499853e-05, + 1.054094718710985e-05 + ] + ], + "episode_mean_losses": [ + 7.009285750333068e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.88046271634812e-06, + "observation_loss": 2.88046271634812e-06, + "chamfer": 2.4427633888990385e-06, + "track": 4.3769929902737204e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.177644950686954e-05, + "observation_loss": 3.1499998840445187e-06, + "chamfer": 2.6639083898771787e-06, + "track": 4.860913804805023e-07, + "acceleration": 3.8626450987067074e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3022108507575467e-05, + "observation_loss": 3.2101213491841918e-06, + "chamfer": 2.7188402782485355e-06, + "track": 4.912810709356563e-07, + "acceleration": 1.98119869310176e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0058834959636442e-05, + "observation_loss": 3.6436779282666976e-06, + "chamfer": 3.07341883853951e-06, + "track": 5.702590328837687e-07, + "acceleration": 6.415156803996069e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.682636128767626e-06, + "observation_loss": 4.164416168350726e-06, + "chamfer": 3.4931620120914886e-06, + "track": 6.712539288855623e-07, + "acceleration": 1.5182200741037377e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.4879569688637275e-06, + "observation_loss": 4.402606009534793e-06, + "chamfer": 3.683029717649333e-06, + "track": 7.195764055722975e-07, + "acceleration": 1.0853508456420968e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.757324404636165e-06, + "observation_loss": 4.160946446063463e-06, + "chamfer": 3.4851091186283156e-06, + "track": 6.758374411219847e-07, + "acceleration": 5.963777880424459e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.6085133362794295e-06, + "observation_loss": 3.982395355706103e-06, + "chamfer": 3.3412136417609872e-06, + "track": 6.411814865714405e-07, + "acceleration": 6.261179805733263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.391483798826812e-06, + "observation_loss": 3.908463440893684e-06, + "chamfer": 3.28428086504573e-06, + "track": 6.24182405317697e-07, + "acceleration": 4.83020471619966e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.287255251256283e-06, + "observation_loss": 3.984633622167166e-06, + "chamfer": 3.34750166075537e-06, + "track": 6.371318477249588e-07, + "acceleration": 3.0262179961937363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.497593636187958e-06, + "observation_loss": 4.3513396121852566e-06, + "chamfer": 3.6473497857514303e-06, + "track": 7.03989940120664e-07, + "acceleration": 1.4625400979184633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.880211236013565e-06, + "observation_loss": 4.787621946888976e-06, + "chamfer": 3.998234205937479e-06, + "track": 7.893876841080782e-07, + "acceleration": 9.258906175091397e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.184906058275374e-06, + "observation_loss": 5.081338713353034e-06, + "chamfer": 4.240353518980555e-06, + "track": 8.409854217461543e-07, + "acceleration": 1.0356754387430556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.377359684644034e-06, + "observation_loss": 5.270177553029498e-06, + "chamfer": 4.401684691401897e-06, + "track": 8.684929753144388e-07, + "acceleration": 1.0718230925021999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.321567641658476e-06, + "observation_loss": 5.260028501652414e-06, + "chamfer": 4.397222255647648e-06, + "track": 8.628063028481847e-07, + "acceleration": 6.153904053007864e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.275845978758298e-06, + "observation_loss": 5.151823188498383e-06, + "chamfer": 4.308688403398264e-06, + "track": 8.431346145698626e-07, + "acceleration": 1.2402269078393147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 5.004228114557918e-06, + "observation_loss": 4.802046987606445e-06, + "chamfer": 4.021316726721125e-06, + "track": 7.807302608853206e-07, + "acceleration": 2.021808995777974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.7563057705701794e-06, + "observation_loss": 4.413825081428513e-06, + "chamfer": 3.699728495121235e-06, + "track": 7.140963589336025e-07, + "acceleration": 3.4248088809363253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.446837465366116e-06, + "observation_loss": 4.257216914993478e-06, + "chamfer": 3.5658890737977345e-06, + "track": 6.913278411957435e-07, + "acceleration": 1.8962060721605667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.385294232633896e-06, + "observation_loss": 4.2606752685969695e-06, + "chamfer": 3.5645302887132857e-06, + "track": 6.961450935705216e-07, + "acceleration": 1.246189498260719e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.51366668130504e-06, + "observation_loss": 4.206608082313323e-06, + "chamfer": 3.5185237265977776e-06, + "track": 6.880843557155458e-07, + "acceleration": 3.07058513726588e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.4107068788434844e-06, + "observation_loss": 4.021476797788637e-06, + "chamfer": 3.367015324329259e-06, + "track": 6.544613597725402e-07, + "acceleration": 3.8922993894630054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.557042302621994e-06, + "observation_loss": 3.905698577000294e-06, + "chamfer": 3.274942400821601e-06, + "track": 6.307563467089494e-07, + "acceleration": 6.513435550914437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.744680154544767e-06, + "observation_loss": 3.96748100683908e-06, + "chamfer": 3.320783207527711e-06, + "track": 6.46697685624531e-07, + "acceleration": 7.771993750793627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.503985110204667e-06, + "observation_loss": 4.1024691199709196e-06, + "chamfer": 3.4155523280787747e-06, + "track": 6.869166213618882e-07, + "acceleration": 4.0151616076400387e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.6678278522449546e-06, + "observation_loss": 4.380008249427192e-06, + "chamfer": 3.6250896755518625e-06, + "track": 7.54918346501654e-07, + "acceleration": 2.878194891309249e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.083782980364049e-06, + "observation_loss": 4.73129784950288e-06, + "chamfer": 3.89391334465472e-06, + "track": 8.373845048481598e-07, + "acceleration": 3.52485216126297e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.319463980413275e-06, + "observation_loss": 4.853203790844418e-06, + "chamfer": 3.9889146137284115e-06, + "track": 8.642892339594255e-07, + "acceleration": 4.6626030325569445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.417234206106514e-06, + "observation_loss": 4.789251761394553e-06, + "chamfer": 3.9343503885902464e-06, + "track": 8.549014296477253e-07, + "acceleration": 6.279824447119609e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.179310392122716e-06, + "observation_loss": 4.8152278395718895e-06, + "chamfer": 3.962480150221381e-06, + "track": 8.527474619768327e-07, + "acceleration": 3.640824388639885e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.341174528439296e-06, + "observation_loss": 5.080854862171691e-06, + "chamfer": 4.182818429399049e-06, + "track": 8.980364896160609e-07, + "acceleration": 2.603198652195715e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.627487098536221e-06, + "observation_loss": 5.4129695854499005e-06, + "chamfer": 4.4417679418984335e-06, + "track": 9.712018709251424e-07, + "acceleration": 2.1451768361657741e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.931885425525252e-06, + "observation_loss": 5.820089427288622e-06, + "chamfer": 4.768531198351411e-06, + "track": 1.051558456310886e-06, + "acceleration": 1.1179622561030556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.29977012067684e-06, + "observation_loss": 6.10107872489607e-06, + "chamfer": 4.98210374644259e-06, + "track": 1.1189749784534797e-06, + "acceleration": 1.9869128209393239e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.330269116006093e-06, + "observation_loss": 6.142267920949962e-06, + "chamfer": 5.021591732656816e-06, + "track": 1.1206760746063082e-06, + "acceleration": 1.880010955801481e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.300424956862116e-06, + "observation_loss": 6.084523647587048e-06, + "chamfer": 4.972795977664646e-06, + "track": 1.1117275562355644e-06, + "acceleration": 2.1590147980532493e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.483832294179592e-06, + "observation_loss": 6.149348337203264e-06, + "chamfer": 5.006955234421184e-06, + "track": 1.14239310278208e-06, + "acceleration": 3.3448375802436203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.242549145303201e-06, + "observation_loss": 6.265297997742891e-06, + "chamfer": 5.093122126709204e-06, + "track": 1.1721756436600117e-06, + "acceleration": 9.772511475603096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.25096151654725e-06, + "observation_loss": 6.002038389851805e-06, + "chamfer": 4.898926363239298e-06, + "track": 1.103112140299345e-06, + "acceleration": 1.248923013008607e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.825249784014886e-06, + "observation_loss": 5.640841663989704e-06, + "chamfer": 4.612998964148574e-06, + "track": 1.0278425861542928e-06, + "acceleration": 1.1844081200251821e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 7.0667574618710205e-06, + "observation_loss": 5.440330824058037e-06, + "chamfer": 4.4509761210065335e-06, + "track": 9.893544756778283e-07, + "acceleration": 1.6264264104393078e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.15861585579114e-06, + "observation_loss": 5.6252392823807895e-06, + "chamfer": 4.5788938223267905e-06, + "track": 1.0463455737408367e-06, + "acceleration": 2.5333763460366754e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 8.123781299218535e-06, + "observation_loss": 5.809785307064885e-06, + "chamfer": 4.699976670963224e-06, + "track": 1.1098085224148235e-06, + "acceleration": 2.3139962195273256e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.350967734964797e-06, + "observation_loss": 5.985265943309059e-06, + "chamfer": 4.828816599911079e-06, + "track": 1.1564493433979806e-06, + "acceleration": 1.365701791655738e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.358452421613038e-06, + "observation_loss": 6.101134204072878e-06, + "chamfer": 4.917230398859829e-06, + "track": 1.1839039188998868e-06, + "acceleration": 1.257318103853322e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.746124538243748e-06, + "observation_loss": 6.17580599282519e-06, + "chamfer": 4.971178441337543e-06, + "track": 1.2046274378008093e-06, + "acceleration": 1.5703186591053964e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.2919883677968755e-06, + "observation_loss": 6.293927981460001e-06, + "chamfer": 5.0645708142837975e-06, + "track": 1.2293571671762038e-06, + "acceleration": 9.98060500023712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.2681086749071255e-06, + "observation_loss": 6.746377948729787e-06, + "chamfer": 5.406754098657984e-06, + "track": 1.339623736384965e-06, + "acceleration": 5.217304988036631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.640469448233489e-06, + "observation_loss": 7.335019290621858e-06, + "chamfer": 5.826802407682408e-06, + "track": 1.508216655565775e-06, + "acceleration": 3.054503849853063e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.11608333606273e-06, + "observation_loss": 7.683172952965833e-06, + "chamfer": 6.081486844777828e-06, + "track": 1.6016859945011674e-06, + "acceleration": 4.3291012730151124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.248026460933033e-06, + "observation_loss": 7.55937662688666e-06, + "chamfer": 5.999458608130226e-06, + "track": 1.5599180187564343e-06, + "acceleration": 6.88649890889792e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.814900527591817e-06, + "observation_loss": 7.342334356508218e-06, + "chamfer": 5.848014552611858e-06, + "track": 1.49431980389636e-06, + "acceleration": 4.7256656898753135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.548525900347158e-06, + "observation_loss": 7.151219051593216e-06, + "chamfer": 5.702312137145782e-06, + "track": 1.4489068007605965e-06, + "acceleration": 3.9730673506710446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.090050985425478e-06, + "observation_loss": 6.9911129685351625e-06, + "chamfer": 5.580863671639236e-06, + "track": 1.4102490695222514e-06, + "acceleration": 9.893810215544363e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.118014309526188e-06, + "observation_loss": 6.996032425377052e-06, + "chamfer": 5.5806481213949155e-06, + "track": 1.415384190295299e-06, + "acceleration": 1.219819552034096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.171553988882806e-06, + "observation_loss": 7.048331099213101e-06, + "chamfer": 5.609650088445051e-06, + "track": 1.4386807833943749e-06, + "acceleration": 1.2322301756739762e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.206366262835218e-06, + "observation_loss": 7.131317943276372e-06, + "chamfer": 5.667742698278744e-06, + "track": 1.4635754723713035e-06, + "acceleration": 7.504836929683734e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.41624216971104e-06, + "observation_loss": 7.2200891736429185e-06, + "chamfer": 5.720288299926324e-06, + "track": 1.499800760029757e-06, + "acceleration": 1.9615282553786528e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.86960208642995e-06, + "observation_loss": 7.309885404538363e-06, + "chamfer": 5.789055194327375e-06, + "track": 1.5208300965241506e-06, + "acceleration": 5.597163976744923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.661714673507959e-06, + "observation_loss": 7.467170235031517e-06, + "chamfer": 5.895461526961299e-06, + "track": 1.5717087080702186e-06, + "acceleration": 1.1945446658501169e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.370530278829392e-06, + "observation_loss": 7.635307156306226e-06, + "chamfer": 6.025246875651646e-06, + "track": 1.610060053280904e-06, + "acceleration": 1.735222781462653e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.881414942152333e-06, + "observation_loss": 7.828597517800517e-06, + "chamfer": 6.175106136652175e-06, + "track": 1.6534909264009912e-06, + "acceleration": 1.0528173106649774e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.658393198857084e-06, + "observation_loss": 8.209770385292359e-06, + "chamfer": 6.448703061323613e-06, + "track": 1.7610669829082326e-06, + "acceleration": 4.4862295567327237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.055992450157646e-06, + "observation_loss": 8.740615157876164e-06, + "chamfer": 6.811304047005251e-06, + "track": 1.9293108834972372e-06, + "acceleration": 3.1537737754661066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.476221748627722e-06, + "observation_loss": 9.355183465231676e-06, + "chamfer": 7.230357368825935e-06, + "track": 2.1248258690320654e-06, + "acceleration": 1.210384539263032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.800862244446762e-06, + "observation_loss": 9.703525392978918e-06, + "chamfer": 7.467592695320491e-06, + "track": 2.2359324702847516e-06, + "acceleration": 9.733711436865633e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0234572982881218e-05, + "observation_loss": 9.936129572452046e-06, + "chamfer": 7.62778881835402e-06, + "track": 2.308341208845377e-06, + "acceleration": 2.984434672725911e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0374336852692068e-05, + "observation_loss": 1.0181768629990984e-05, + "chamfer": 7.776957318128552e-06, + "track": 2.404811084488756e-06, + "acceleration": 1.9256867744843476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0433637726237066e-05, + "observation_loss": 1.0304887837264687e-05, + "chamfer": 7.851285772630945e-06, + "track": 2.453601609886391e-06, + "acceleration": 1.2874986055066984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0530841791478451e-05, + "observation_loss": 1.0166205356654245e-05, + "chamfer": 7.754199032206088e-06, + "track": 2.412006324448157e-06, + "acceleration": 3.6463683272813796e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0763924365164712e-05, + "observation_loss": 9.836471690505277e-06, + "chamfer": 7.5495386226975825e-06, + "track": 2.2869328404340195e-06, + "acceleration": 9.274531294067856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0231980922981165e-05, + "observation_loss": 9.646493708714843e-06, + "chamfer": 7.414408628392266e-06, + "track": 2.2320848529489012e-06, + "acceleration": 5.854872142663226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.707407116366085e-06, + "observation_loss": 9.471201337873936e-06, + "chamfer": 7.2898496910056565e-06, + "track": 2.1813518742419546e-06, + "acceleration": 2.3620542322078109e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.441474503546488e-06, + "observation_loss": 9.202482033288106e-06, + "chamfer": 7.091417046467541e-06, + "track": 2.1110654415679164e-06, + "acceleration": 2.389928965840227e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.2281279648887e-06, + "observation_loss": 8.954307304520626e-06, + "chamfer": 6.91494278726168e-06, + "track": 2.0393647446326213e-06, + "acceleration": 2.7382097300687747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.033655098581221e-05, + "observation_loss": 9.085525562113617e-06, + "chamfer": 6.996042884566123e-06, + "track": 2.0894829049211694e-06, + "acceleration": 1.2510253100117552e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.1976535461144522e-05, + "observation_loss": 9.257183592126239e-06, + "chamfer": 7.0868363764020614e-06, + "track": 2.1703469883505022e-06, + "acceleration": 2.719352096391958e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2131115909141954e-05, + "observation_loss": 9.290351954405196e-06, + "chamfer": 7.129983714548871e-06, + "track": 2.1603684672300005e-06, + "acceleration": 2.840763954736758e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0850545550056268e-05, + "observation_loss": 9.267524546885397e-06, + "chamfer": 7.089322025422007e-06, + "track": 2.178202748837066e-06, + "acceleration": 1.5830212305445457e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.061419698089594e-05, + "observation_loss": 9.272380339098163e-06, + "chamfer": 7.082759566401364e-06, + "track": 2.189621000070474e-06, + "acceleration": 1.341816755484615e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0224916877632495e-05, + "observation_loss": 9.39404435484903e-06, + "chamfer": 7.160710993048269e-06, + "track": 2.2333331344270846e-06, + "acceleration": 8.308728638439788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.97542701952625e-06, + "observation_loss": 9.535940080240835e-06, + "chamfer": 7.230590199469589e-06, + "track": 2.3053496533975704e-06, + "acceleration": 4.3948702455054445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.843740372161847e-06, + "observation_loss": 9.731783393363003e-06, + "chamfer": 7.357385129580507e-06, + "track": 2.37439803640882e-06, + "acceleration": 1.1195741222991273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0089661373058334e-05, + "observation_loss": 1.0003186616813764e-05, + "chamfer": 7.546125289081829e-06, + "track": 2.457061782479286e-06, + "acceleration": 8.647452887089457e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0334187209082302e-05, + "observation_loss": 1.0216261216555722e-05, + "chamfer": 7.692238796153106e-06, + "track": 2.5240224204026163e-06, + "acceleration": 1.1792587883974193e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0406340152258053e-05, + "observation_loss": 1.0299628229404334e-05, + "chamfer": 7.737925443507265e-06, + "track": 2.5617027858970687e-06, + "acceleration": 1.06711794956027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0526294317969587e-05, + "observation_loss": 1.036494541040156e-05, + "chamfer": 7.778345207043458e-06, + "track": 2.586599975984427e-06, + "acceleration": 1.6134902125486406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.059562691807514e-05, + "observation_loss": 1.043412703438662e-05, + "chamfer": 7.813448974047787e-06, + "track": 2.620678287712508e-06, + "acceleration": 1.6149949999544333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0539113645791076e-05, + "observation_loss": 1.0455594747327268e-05, + "chamfer": 7.819989150448237e-06, + "track": 2.635605369505356e-06, + "acceleration": 8.35188487258165e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0674894838302862e-05, + "observation_loss": 1.0443923201819416e-05, + "chamfer": 7.81162907514954e-06, + "track": 2.6322941266698763e-06, + "acceleration": 2.309717643811382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0619308341119904e-05, + "observation_loss": 1.050188802764751e-05, + "chamfer": 7.84348048910033e-06, + "track": 2.6584075385471806e-06, + "acceleration": 1.1741990846303452e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0682709216780495e-05, + "observation_loss": 1.057472218235489e-05, + "chamfer": 7.876094969105907e-06, + "track": 2.698626758501632e-06, + "acceleration": 1.07986714681374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0723497325670905e-05, + "observation_loss": 1.0639317224558908e-05, + "chamfer": 7.91688489698572e-06, + "track": 2.722432100199512e-06, + "acceleration": 8.418010821742428e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0798326002259273e-05, + "observation_loss": 1.0721192666096613e-05, + "chamfer": 7.964870746945962e-06, + "track": 2.7563223738980014e-06, + "acceleration": 7.713328642466877e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.079029607353732e-05, + "observation_loss": 1.067923858499853e-05, + "chamfer": 7.941878720885143e-06, + "track": 2.7373598641133867e-06, + "acceleration": 1.1105755248763671e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0637406376190484e-05, + "observation_loss": 1.054094718710985e-05, + "chamfer": 7.855565854697488e-06, + "track": 2.685381332412362e-06, + "acceleration": 9.645957277371053e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.228554546481822e-06, + "chamfer_mean": 5.521274893283135e-06, + "track_mean": 1.4880108164897858e-06, + "acceleration_mean": 1.2192688328601282e-06, + "observation_score": 7.009285750333068e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.43031227100073 + }, + "score_arrays_file": "pass_scores/pass_end_0360.npz", + "score_arrays_sha256": "a58edb56376d19a99b2d3a3f9df8d7c7d8560e857dd7a2c2ad80e7471d8bae9b" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0361.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0361.json new file mode 100644 index 0000000000000000000000000000000000000000..401bdb96482e6b8c4681f505702218275deb2f9a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0361.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34656, + "completed_passes": 361, + "snapshot": "pass_end_0361", + "candidate": true, + "snapshot_arrays_sha256": "c97c0230bdb416e765690486509e80a29b61bfa979712d27439c3586284182a1", + "score": 7.011423316309144e-06, + "score_result": { + "score": 7.011423316309144e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8808108254452236e-06, + 3.1497920645051636e-06, + 3.2089869819174055e-06, + 3.6422793527890462e-06, + 4.162498044024687e-06, + 4.400782017910387e-06, + 4.159588570473716e-06, + 3.980684596172068e-06, + 3.906524398189504e-06, + 3.982043381256517e-06, + 4.348298716649879e-06, + 4.783761596627301e-06, + 5.076642082713079e-06, + 5.265145773591939e-06, + 5.2546911319950595e-06, + 5.146741841599578e-06, + 4.79759683003067e-06, + 4.409358552948106e-06, + 4.253711267665494e-06, + 4.256663487467449e-06, + 4.201493993605254e-06, + 4.0146087485481985e-06, + 3.899681814800715e-06, + 3.96470068153576e-06, + 4.103687842871295e-06, + 4.3837426346726716e-06, + 4.7329544941021595e-06, + 4.850683581025805e-06, + 4.7864054977253545e-06, + 4.814985004486516e-06, + 5.081926246930379e-06, + 5.417193278844934e-06, + 5.82638313062489e-06, + 6.108727120590629e-06, + 6.147757630969863e-06, + 6.088970621931367e-06, + 6.152242804091657e-06, + 6.26400469627697e-06, + 6.000531811878318e-06, + 5.63944922760129e-06, + 5.436734227259876e-06, + 5.621719083137577e-06, + 5.805366981803672e-06, + 5.982206403132295e-06, + 6.099284291849472e-06, + 6.173090241645696e-06, + 6.289442808338208e-06, + 6.739784112141933e-06, + 7.330811513384106e-06, + 7.684519005124457e-06, + 7.562358405266423e-06, + 7.353162800427526e-06, + 7.166822797444183e-06, + 7.004693543422036e-06, + 7.007936801528558e-06, + 7.061852556944359e-06, + 7.145063136704266e-06, + 7.232361895148642e-06, + 7.322766577999573e-06, + 7.480527528969105e-06, + 7.65084223530721e-06, + 7.847050255804788e-06, + 8.229786544688977e-06, + 8.762932338868268e-06, + 9.378900358569808e-06, + 9.728184522828087e-06, + 9.961111572920345e-06, + 1.020739546220284e-05, + 1.0330310942663345e-05, + 1.018925649987068e-05, + 9.856377801042981e-06, + 9.663561286288314e-06, + 9.486831004323903e-06, + 9.216080798069015e-06, + 8.966348104877397e-06, + 9.100202987610828e-06, + 9.269158908864483e-06, + 9.298553777625784e-06, + 9.271120688936207e-06, + 9.273572686652187e-06, + 9.391478670295328e-06, + 9.529931958240923e-06, + 9.724223673401866e-06, + 9.994317224482074e-06, + 1.0205832950305194e-05, + 1.0288409612257965e-05, + 1.0353479410696309e-05, + 1.0423140338389203e-05, + 1.0443736755405553e-05, + 1.0431930604681838e-05, + 1.0489378837519325e-05, + 1.056149721989641e-05, + 1.0625250070006587e-05, + 1.0706684406613931e-05, + 1.0665020454325713e-05, + 1.0527510312385857e-05 + ] + ], + "episode_mean_losses": [ + 7.011423316309144e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8808108254452236e-06, + "observation_loss": 2.8808108254452236e-06, + "chamfer": 2.4430407847830793e-06, + "track": 4.377699269753066e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.178996096015908e-05, + "observation_loss": 3.1497920645051636e-06, + "chamfer": 2.663730583662982e-06, + "track": 4.860613671553438e-07, + "acceleration": 3.8640169805148616e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.302708526258357e-05, + "observation_loss": 3.2089869819174055e-06, + "chamfer": 2.717891447900911e-06, + "track": 4.910954203296569e-07, + "acceleration": 1.9818098735413514e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.006224556476809e-05, + "observation_loss": 3.6422793527890462e-06, + "chamfer": 3.072255367442267e-06, + "track": 5.700239285033604e-07, + "acceleration": 6.4199666667263955e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.68404357181862e-06, + "observation_loss": 4.162498044024687e-06, + "chamfer": 3.4915922242362285e-06, + "track": 6.709055924147833e-07, + "acceleration": 1.521545414107095e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.486735062731896e-06, + "observation_loss": 4.400782017910387e-06, + "chamfer": 3.681542466438259e-06, + "track": 7.192397788458038e-07, + "acceleration": 1.0859530448215082e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.7543189793941565e-06, + "observation_loss": 4.159588570473716e-06, + "chamfer": 3.483976115603582e-06, + "track": 6.756124548701337e-07, + "acceleration": 5.947304089204408e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.606978563970188e-06, + "observation_loss": 3.980684596172068e-06, + "chamfer": 3.3397759580111597e-06, + "track": 6.409084107872332e-07, + "acceleration": 6.262937972678628e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.388566139823524e-06, + "observation_loss": 3.906524398189504e-06, + "chamfer": 3.2826492315507494e-06, + "track": 6.238751097953354e-07, + "acceleration": 4.820416847906017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.2840265450649895e-06, + "observation_loss": 3.982043381256517e-06, + "chamfer": 3.345340019222931e-06, + "track": 6.367033051901672e-07, + "acceleration": 3.019831922301819e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.494394488574471e-06, + "observation_loss": 4.348298716649879e-06, + "chamfer": 3.6448609535000287e-06, + "track": 7.034377631498501e-07, + "acceleration": 1.4609594245484914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.876198545389343e-06, + "observation_loss": 4.783761596627301e-06, + "chamfer": 3.995111910626292e-06, + "track": 7.886495154707518e-07, + "acceleration": 9.243703402717074e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.180185780773172e-06, + "observation_loss": 5.076642082713079e-06, + "chamfer": 4.236566383042373e-06, + "track": 8.400754722970305e-07, + "acceleration": 1.0354364121667459e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.372221494326368e-06, + "observation_loss": 5.265145773591939e-06, + "chamfer": 4.397619250084972e-06, + "track": 8.675264098201296e-07, + "acceleration": 1.070757065235739e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.316372607921949e-06, + "observation_loss": 5.2546911319950595e-06, + "chamfer": 4.392872597236419e-06, + "track": 8.618185347586405e-07, + "acceleration": 6.168153987573533e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.270982910587918e-06, + "observation_loss": 5.146741841599578e-06, + "chamfer": 4.304546109779039e-06, + "track": 8.421958455073764e-07, + "acceleration": 1.2424102635577583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.999922566639725e-06, + "observation_loss": 4.79759683003067e-06, + "chamfer": 4.017676019429928e-06, + "track": 7.79920696913905e-07, + "acceleration": 2.0232555186794343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.7525713853247e-06, + "observation_loss": 4.409358552948106e-06, + "chamfer": 3.69602730643237e-06, + "track": 7.133314738894114e-07, + "acceleration": 3.4321286079830315e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.443780198926106e-06, + "observation_loss": 4.253711267665494e-06, + "chamfer": 3.562964366210508e-06, + "track": 6.907467309247295e-07, + "acceleration": 1.9006873230864585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.379605798021657e-06, + "observation_loss": 4.256663487467449e-06, + "chamfer": 3.5611840303317877e-06, + "track": 6.954792866054049e-07, + "acceleration": 1.229423816084818e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.509005975705804e-06, + "observation_loss": 4.201493993605254e-06, + "chamfer": 3.514282525429735e-06, + "track": 6.872116387057758e-07, + "acceleration": 3.0751212420909724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.407072083267849e-06, + "observation_loss": 4.0146087485481985e-06, + "chamfer": 3.361277549629449e-06, + "track": 6.533313126055873e-07, + "acceleration": 3.924635620933259e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.557443389785476e-06, + "observation_loss": 3.899681814800715e-06, + "chamfer": 3.2698501399863744e-06, + "track": 6.298315042840841e-07, + "acceleration": 6.577615181413421e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.744723355543101e-06, + "observation_loss": 3.96470068153576e-06, + "chamfer": 3.318339395264047e-06, + "track": 6.463612862717127e-07, + "acceleration": 7.80022787694179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.504762728174683e-06, + "observation_loss": 4.103687842871295e-06, + "chamfer": 3.4164454518759158e-06, + "track": 6.872424478387984e-07, + "acceleration": 4.0107511267706286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.670361704484094e-06, + "observation_loss": 4.3837426346726716e-06, + "chamfer": 3.627955038609798e-06, + "track": 7.557877097497112e-07, + "acceleration": 2.8661887085945636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0857788664870895e-06, + "observation_loss": 4.7329544941021595e-06, + "chamfer": 3.895277131960029e-06, + "track": 8.376774758289685e-07, + "acceleration": 3.528245429151866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.3221046982798725e-06, + "observation_loss": 4.850683581025805e-06, + "chamfer": 3.98712336391327e-06, + "track": 8.635602171125356e-07, + "acceleration": 4.7142117409748607e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.411448910308536e-06, + "observation_loss": 4.7864054977253545e-06, + "chamfer": 3.932127583539113e-06, + "track": 8.542780847164977e-07, + "acceleration": 6.250431852095062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.165803031559335e-06, + "observation_loss": 4.814985004486516e-06, + "chamfer": 3.962057235185057e-06, + "track": 8.529275987712026e-07, + "acceleration": 3.508180554945284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.33249158252147e-06, + "observation_loss": 5.081926246930379e-06, + "chamfer": 4.1834687181108166e-06, + "track": 8.984575288195629e-07, + "acceleration": 2.50565278747672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.620678166451398e-06, + "observation_loss": 5.417193278844934e-06, + "chamfer": 4.444812930159969e-06, + "track": 9.723804623718024e-07, + "acceleration": 2.034848733956096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.934635282756062e-06, + "observation_loss": 5.82638313062489e-06, + "chamfer": 4.773053206008626e-06, + "track": 1.0533299246162642e-06, + "acceleration": 1.0825193896835117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.307486728474032e-06, + "observation_loss": 6.108727120590629e-06, + "chamfer": 4.98769531986909e-06, + "track": 1.121031914408377e-06, + "acceleration": 1.987598068353691e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.338279945339309e-06, + "observation_loss": 6.147757630969863e-06, + "chamfer": 5.0255189307790715e-06, + "track": 1.1222389275644673e-06, + "acceleration": 1.9052238542371924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.299228971329285e-06, + "observation_loss": 6.088970621931367e-06, + "chamfer": 4.976347099727718e-06, + "track": 1.1126235222036485e-06, + "acceleration": 2.102581504459522e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.431440851883963e-06, + "observation_loss": 6.152242804091657e-06, + "chamfer": 5.0094777179765515e-06, + "track": 1.1427651998019428e-06, + "acceleration": 2.791981614791439e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.118875146261416e-06, + "observation_loss": 6.26400469627697e-06, + "chamfer": 5.092669198347721e-06, + "track": 1.1713357253029244e-06, + "acceleration": 8.548706205147028e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.140194156818325e-06, + "observation_loss": 6.000531811878318e-06, + "chamfer": 4.898291990684811e-06, + "track": 1.1022399348803447e-06, + "acceleration": 1.1396623449400067e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.7698870225285646e-06, + "observation_loss": 5.63944922760129e-06, + "chamfer": 4.612370048562298e-06, + "track": 1.0270789516653167e-06, + "acceleration": 1.1304377949272748e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.986303105804836e-06, + "observation_loss": 5.436734227259876e-06, + "chamfer": 4.448382696864428e-06, + "track": 9.883515303954482e-07, + "acceleration": 1.5495689922317979e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 8.05389936431311e-06, + "observation_loss": 5.621719083137577e-06, + "chamfer": 4.576029368763557e-06, + "track": 1.045689600687183e-06, + "acceleration": 2.432180053801858e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 8.146505024342332e-06, + "observation_loss": 5.805366981803672e-06, + "chamfer": 4.696405085269362e-06, + "track": 1.1089620102211484e-06, + "acceleration": 2.341138269912335e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.454401838913327e-06, + "observation_loss": 5.982206403132295e-06, + "chamfer": 4.826292752113659e-06, + "track": 1.1559135373317986e-06, + "acceleration": 1.4721955494678696e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.299686330952682e-06, + "observation_loss": 6.099284291849472e-06, + "chamfer": 4.915704266750254e-06, + "track": 1.1835801387860556e-06, + "acceleration": 1.2004021527900477e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.704934432695154e-06, + "observation_loss": 6.173090241645696e-06, + "chamfer": 4.968987013853621e-06, + "track": 1.2041031141052372e-06, + "acceleration": 1.5318440773626207e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.350365194724873e-06, + "observation_loss": 6.289442808338208e-06, + "chamfer": 5.060937382950215e-06, + "track": 1.2285055390748312e-06, + "acceleration": 1.0609223863866646e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.2908710535557475e-06, + "observation_loss": 6.739784112141933e-06, + "chamfer": 5.40189375897171e-06, + "track": 1.337890125796548e-06, + "acceleration": 5.510869982572331e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.581006229884224e-06, + "observation_loss": 7.330811513384106e-06, + "chamfer": 5.8235864344169386e-06, + "track": 1.5072249652803293e-06, + "acceleration": 2.5019485860866553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.039727617870085e-06, + "observation_loss": 7.684519005124457e-06, + "chamfer": 6.082271283958107e-06, + "track": 1.6022479485400254e-06, + "acceleration": 3.5520841379366175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.089364200714044e-06, + "observation_loss": 7.562358405266423e-06, + "chamfer": 6.001503606967162e-06, + "track": 1.560854570925585e-06, + "acceleration": 5.270056249173649e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.765961527184118e-06, + "observation_loss": 7.353162800427526e-06, + "chamfer": 5.856308689544676e-06, + "track": 1.4968543382565258e-06, + "acceleration": 4.127984709612065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.514417575293919e-06, + "observation_loss": 7.166822797444183e-06, + "chamfer": 5.714296094083693e-06, + "track": 1.4525265896736528e-06, + "acceleration": 3.4759491995828284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.083871423674282e-06, + "observation_loss": 7.004693543422036e-06, + "chamfer": 5.591486115008593e-06, + "track": 1.4132076557871187e-06, + "acceleration": 7.917770972198923e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.120727786968928e-06, + "observation_loss": 7.007936801528558e-06, + "chamfer": 5.5901887208165135e-06, + "track": 1.4177480807120446e-06, + "acceleration": 1.1279077938297632e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.1853546614875086e-06, + "observation_loss": 7.061852556944359e-06, + "chamfer": 5.620407591777621e-06, + "track": 1.4414447377930628e-06, + "acceleration": 1.2350227507340605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.221785836009076e-06, + "observation_loss": 7.145063136704266e-06, + "chamfer": 5.678620709659299e-06, + "track": 1.466442540731805e-06, + "acceleration": 7.672255009083528e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4319546001788694e-06, + "observation_loss": 7.232361895148642e-06, + "chamfer": 5.729944405175047e-06, + "track": 1.5024177173472708e-06, + "acceleration": 1.9959266239766293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.885079867264722e-06, + "observation_loss": 7.322766577999573e-06, + "chamfer": 5.799093742098194e-06, + "track": 1.523673063275055e-06, + "acceleration": 5.623134597954049e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.683293344802223e-06, + "observation_loss": 7.480527528969105e-06, + "chamfer": 5.905792477278737e-06, + "track": 1.5747348243166925e-06, + "acceleration": 1.202766156893631e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.394992957822978e-06, + "observation_loss": 7.65084223530721e-06, + "chamfer": 6.0370743995008525e-06, + "track": 1.6137678358063567e-06, + "acceleration": 1.7441503814552561e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.903050911612809e-06, + "observation_loss": 7.847050255804788e-06, + "chamfer": 6.189141913637286e-06, + "track": 1.657908001106989e-06, + "acceleration": 1.056000769494858e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.678060112288222e-06, + "observation_loss": 8.229786544688977e-06, + "chamfer": 6.463606951001566e-06, + "track": 1.7661794800005737e-06, + "acceleration": 4.482731981170218e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.078067705559079e-06, + "observation_loss": 8.762932338868268e-06, + "chamfer": 6.827795459685149e-06, + "track": 1.9351364244357683e-06, + "acceleration": 3.151355656427768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.499714906269219e-06, + "observation_loss": 9.378900358569808e-06, + "chamfer": 7.247687335620867e-06, + "track": 2.1312130229489412e-06, + "acceleration": 1.2081483191650477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.825308552535716e-06, + "observation_loss": 9.728184522828087e-06, + "chamfer": 7.485366950277239e-06, + "track": 2.242818027298199e-06, + "acceleration": 9.712369575254343e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0258974725729786e-05, + "observation_loss": 9.961111572920345e-06, + "chamfer": 7.645602636330295e-06, + "track": 2.3155089365900494e-06, + "acceleration": 2.978635222916637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0400172868685331e-05, + "observation_loss": 1.020739546220284e-05, + "chamfer": 7.795251804054715e-06, + "track": 2.4121438855218003e-06, + "acceleration": 1.9277698015685019e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0459752047609072e-05, + "observation_loss": 1.0330310942663345e-05, + "chamfer": 7.869475666666403e-06, + "track": 2.4608355033706175e-06, + "acceleration": 1.294410196805984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.055835309671238e-05, + "observation_loss": 1.018925649987068e-05, + "chamfer": 7.770660886308178e-06, + "track": 2.418596068309853e-06, + "acceleration": 3.6909656841999094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0790910891955718e-05, + "observation_loss": 9.856377801042981e-06, + "chamfer": 7.563729013781995e-06, + "track": 2.2926490146346623e-06, + "acceleration": 9.345334319732501e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.024975335894851e-05, + "observation_loss": 9.663561286288314e-06, + "chamfer": 7.426343472616281e-06, + "track": 2.2372180410457077e-06, + "acceleration": 5.861918452865211e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.72257930698106e-06, + "observation_loss": 9.486831004323903e-06, + "chamfer": 7.300815013877582e-06, + "track": 2.186016217819997e-06, + "acceleration": 2.3574787633151573e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.452293852518778e-06, + "observation_loss": 9.216080798069015e-06, + "chamfer": 7.100824404915329e-06, + "track": 2.115256847901037e-06, + "acceleration": 2.3621304023890843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.219788807968143e-06, + "observation_loss": 8.966348104877397e-06, + "chamfer": 6.922900411154842e-06, + "track": 2.0434472389752045e-06, + "acceleration": 2.5344107257296855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.0230804036837071e-05, + "observation_loss": 9.100202987610828e-06, + "chamfer": 7.0067817432573065e-06, + "track": 2.0934212443535216e-06, + "acceleration": 1.130601503973594e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2046119991282467e-05, + "observation_loss": 9.269158908864483e-06, + "chamfer": 7.0948385655356105e-06, + "track": 2.1743207980762236e-06, + "acceleration": 2.776961309791659e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2213459740451071e-05, + "observation_loss": 9.298553777625784e-06, + "chamfer": 7.135363375709858e-06, + "track": 2.1631899471685756e-06, + "acceleration": 2.9149057354516117e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0878553439397365e-05, + "observation_loss": 9.271120688936207e-06, + "chamfer": 7.09172445567674e-06, + "track": 2.1793962332594674e-06, + "acceleration": 1.6074328641479951e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0650427611835767e-05, + "observation_loss": 9.273572686652187e-06, + "chamfer": 7.083162017806899e-06, + "track": 2.1904106688452885e-06, + "acceleration": 1.3768552662440925e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0211962035100441e-05, + "observation_loss": 9.391478670295328e-06, + "chamfer": 7.159355845942628e-06, + "track": 2.2321228243527003e-06, + "acceleration": 8.204834216485324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.953670087270439e-06, + "observation_loss": 9.529931958240923e-06, + "chamfer": 7.226826710393652e-06, + "track": 2.3031054752209457e-06, + "acceleration": 4.2373767428216524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.83216887107119e-06, + "observation_loss": 9.724223673401866e-06, + "chamfer": 7.3529013207007665e-06, + "track": 2.3713223527010996e-06, + "acceleration": 1.0794558136240084e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.008122035273118e-05, + "observation_loss": 9.994317224482074e-06, + "chamfer": 7.5404864219308365e-06, + "track": 2.453830347803887e-06, + "acceleration": 8.690271613431833e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0322024536435492e-05, + "observation_loss": 1.0205832950305194e-05, + "chamfer": 7.685477612540126e-06, + "track": 2.520355337765068e-06, + "acceleration": 1.1619133744034116e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0393971024313942e-05, + "observation_loss": 1.0288409612257965e-05, + "chamfer": 7.730744073342066e-06, + "track": 2.557665311542223e-06, + "acceleration": 1.0556175311648985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0515395842958242e-05, + "observation_loss": 1.0353479410696309e-05, + "chamfer": 7.771016498736572e-06, + "track": 2.582462684586062e-06, + "acceleration": 1.6191609120141948e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0584514711808879e-05, + "observation_loss": 1.0423140338389203e-05, + "chamfer": 7.806316716596484e-06, + "track": 2.616823849166394e-06, + "acceleration": 1.6137447289565898e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0525672223593574e-05, + "observation_loss": 1.0443736755405553e-05, + "chamfer": 7.812283001840115e-06, + "track": 2.631453753565438e-06, + "acceleration": 8.193527634148268e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0659166036930401e-05, + "observation_loss": 1.0431930604681838e-05, + "chamfer": 7.804012966516893e-06, + "track": 2.6279178655386204e-06, + "acceleration": 2.272349917120664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0605487659631763e-05, + "observation_loss": 1.0489378837519325e-05, + "chamfer": 7.835622454877011e-06, + "track": 2.653755927894963e-06, + "acceleration": 1.1610849526277889e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0669448784028646e-05, + "observation_loss": 1.056149721989641e-05, + "chamfer": 7.867743079259526e-06, + "track": 2.6937541406368837e-06, + "acceleration": 1.0795140781283408e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0708929949032608e-05, + "observation_loss": 1.0625250070006587e-05, + "chamfer": 7.907971848908346e-06, + "track": 2.7172782210982405e-06, + "acceleration": 8.368026271909912e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0783942343550734e-05, + "observation_loss": 1.0706684406613931e-05, + "chamfer": 7.955693945405073e-06, + "track": 2.750990688582533e-06, + "acceleration": 7.725775219569186e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0776747330965009e-05, + "observation_loss": 1.0665020454325713e-05, + "chamfer": 7.9329311120091e-06, + "track": 2.7320897970639635e-06, + "acceleration": 1.1172708269668874e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0624222340993583e-05, + "observation_loss": 1.0527510312385857e-05, + "chamfer": 7.847149390727282e-06, + "track": 2.6803613764059264e-06, + "acceleration": 9.671168044178557e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.222623999169324e-06, + "chamfer_mean": 5.522942451818835e-06, + "track_mean": 1.488480879293282e-06, + "acceleration_mean": 1.211200690557727e-06, + "observation_score": 7.011423316309144e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4296049549993768 + }, + "score_arrays_file": "pass_scores/pass_end_0361.npz", + "score_arrays_sha256": "fff415e1aedaaed2da61fcc88bed819e6cf1c5bb98558b279019d1443d194444" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0362.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0362.json new file mode 100644 index 0000000000000000000000000000000000000000..381e84e20c22fed0293ce8a87779171b0a2697b3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0362.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34752, + "completed_passes": 362, + "snapshot": "pass_end_0362", + "candidate": true, + "snapshot_arrays_sha256": "57a3d2c2b7b50231af0953cc9b9eb5726fc34859aeb08492822457c133e39c64", + "score": 7.014936710921423e-06, + "score_result": { + "score": 7.014936710921423e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8811587071686517e-06, + 3.149591748297098e-06, + 3.208043835911667e-06, + 3.6413412090041675e-06, + 4.161322976869997e-06, + 4.3998124965582974e-06, + 4.158895535510965e-06, + 3.9796263990865555e-06, + 3.905120138369966e-06, + 3.9802594073989894e-06, + 4.346208697825205e-06, + 4.78067295262008e-06, + 5.0732301133393776e-06, + 5.260862053546589e-06, + 5.250063168205088e-06, + 5.142011104908306e-06, + 4.792937033926137e-06, + 4.404804712976329e-06, + 4.2499013943597674e-06, + 4.252785402059089e-06, + 4.197174803266535e-06, + 4.008840733149555e-06, + 3.893849680025596e-06, + 3.961185029766057e-06, + 4.10302345699165e-06, + 4.3852610360772815e-06, + 4.7318330871348735e-06, + 4.8454762691108044e-06, + 4.781596999237081e-06, + 4.8129127208085265e-06, + 5.081243216409348e-06, + 5.419767603598302e-06, + 5.830935151607264e-06, + 6.1151381487434264e-06, + 6.151362867967691e-06, + 6.091813247621758e-06, + 6.152650712465402e-06, + 6.2603708101960365e-06, + 5.997399966872763e-06, + 5.636897640215466e-06, + 5.4320184972311836e-06, + 5.6177973419835325e-06, + 5.800190592708532e-06, + 5.979180969006848e-06, + 6.0980069065408316e-06, + 6.17078421782935e-06, + 6.2860290199751034e-06, + 6.734188900736626e-06, + 7.326359082071576e-06, + 7.682891919102985e-06, + 7.560065114375902e-06, + 7.367531452473486e-06, + 7.202975666587008e-06, + 7.042357538011856e-06, + 7.03752721165074e-06, + 7.087288395268843e-06, + 7.166506748035317e-06, + 7.251063379953848e-06, + 7.342606750171399e-06, + 7.502549124183133e-06, + 7.676483619434293e-06, + 7.877702955738641e-06, + 8.265005817520432e-06, + 8.802091542747803e-06, + 9.42008409765549e-06, + 9.770571523404215e-06, + 1.0003520401369315e-05, + 1.0250565537717193e-05, + 1.0373883014835883e-05, + 1.02303056337405e-05, + 9.892307389236521e-06, + 9.695359040051699e-06, + 9.515460078546312e-06, + 9.241606676368974e-06, + 8.987261026049964e-06, + 9.119279638980515e-06, + 9.280185622628778e-06, + 9.30080386751797e-06, + 9.267614586860873e-06, + 9.266747838410083e-06, + 9.381442396261264e-06, + 9.517663784208708e-06, + 9.710464837553445e-06, + 9.977715308195911e-06, + 1.0186628060182557e-05, + 1.026834434014745e-05, + 1.0333451427868567e-05, + 1.0403118722024374e-05, + 1.0422514606034383e-05, + 1.0409969036118127e-05, + 1.0466159437783062e-05, + 1.0536883564782329e-05, + 1.0599180313874967e-05, + 1.0679548722691834e-05, + 1.0637739251251332e-05, + 1.0500959433557e-05 + ] + ], + "episode_mean_losses": [ + 7.014936710921423e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8811587071686517e-06, + "observation_loss": 2.8811587071686517e-06, + "chamfer": 2.4433193175354972e-06, + "track": 4.3783933278973564e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1800762119237334e-05, + "observation_loss": 3.149591748297098e-06, + "chamfer": 2.663560280780075e-06, + "track": 4.860314106736041e-07, + "acceleration": 3.865117105306126e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3029888325254433e-05, + "observation_loss": 3.208043835911667e-06, + "chamfer": 2.7171029159944737e-06, + "track": 4.90941033604031e-07, + "acceleration": 1.9821844034595415e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.006413276627427e-05, + "observation_loss": 3.6413412090041675e-06, + "chamfer": 3.0714732019987423e-06, + "track": 5.698681206922629e-07, + "acceleration": 6.422791557270102e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.686242275260156e-06, + "observation_loss": 4.161322976869997e-06, + "chamfer": 3.490620429147384e-06, + "track": 6.707023203489371e-07, + "acceleration": 1.524919412076997e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.4865472520759795e-06, + "observation_loss": 4.3998124965582974e-06, + "chamfer": 3.6807480228162603e-06, + "track": 7.190647011157125e-07, + "acceleration": 1.086734755517682e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.752413133246591e-06, + "observation_loss": 4.158895535510965e-06, + "chamfer": 3.483380623947596e-06, + "track": 6.755147410331119e-07, + "acceleration": 5.9351742720537e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.606428774422966e-06, + "observation_loss": 3.9796263990865555e-06, + "chamfer": 3.33887328451965e-06, + "track": 6.407530008800677e-07, + "acceleration": 6.268026027100859e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.386466116557131e-06, + "observation_loss": 3.905120138369966e-06, + "chamfer": 3.28145165440219e-06, + "track": 6.236684271243575e-07, + "acceleration": 4.813458076569077e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.281725523469504e-06, + "observation_loss": 3.9802594073989894e-06, + "chamfer": 3.343836397107225e-06, + "track": 6.364230671351834e-07, + "acceleration": 3.014660023836768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.4924590838490985e-06, + "observation_loss": 4.346208697825205e-06, + "chamfer": 3.6431331409403356e-06, + "track": 7.030753863546124e-07, + "acceleration": 1.4625049971073167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.873391844739672e-06, + "observation_loss": 4.78067295262008e-06, + "chamfer": 3.992588972323574e-06, + "track": 7.880841508267622e-07, + "acceleration": 9.27188352761732e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.1771526159427594e-06, + "observation_loss": 5.0732301133393776e-06, + "chamfer": 4.2337919694546144e-06, + "track": 8.394380301979254e-07, + "acceleration": 1.039226660282111e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.36790821570321e-06, + "observation_loss": 5.260862053546589e-06, + "chamfer": 4.3941208787146024e-06, + "track": 8.667411748319864e-07, + "acceleration": 1.0704614794576628e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.3116509661776945e-06, + "observation_loss": 5.250063168205088e-06, + "chamfer": 4.389084097056184e-06, + "track": 8.609791279923229e-07, + "acceleration": 6.158767007491406e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.266213520371821e-06, + "observation_loss": 5.142011104908306e-06, + "chamfer": 4.3006766645703465e-06, + "track": 8.413343834945408e-07, + "acceleration": 1.2420231598753162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.995512426830828e-06, + "observation_loss": 4.792937033926137e-06, + "chamfer": 4.01384522774606e-06, + "track": 7.790919198669144e-07, + "acceleration": 2.025754781698197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.748796982312342e-06, + "observation_loss": 4.404804712976329e-06, + "chamfer": 3.692242444230942e-06, + "track": 7.125624961190624e-07, + "acceleration": 3.4399238302285085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.440297288965667e-06, + "observation_loss": 4.2499013943597674e-06, + "chamfer": 3.559777496775496e-06, + "track": 6.901238975842716e-07, + "acceleration": 1.9039569565393322e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.37476955994498e-06, + "observation_loss": 4.252785402059089e-06, + "chamfer": 3.55793554263073e-06, + "track": 6.948496320546838e-07, + "acceleration": 1.219842005184546e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.504599928623065e-06, + "observation_loss": 4.197174803266535e-06, + "chamfer": 3.510674787321477e-06, + "track": 6.865001296318951e-07, + "acceleration": 3.0742489798285533e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.397790689836256e-06, + "observation_loss": 4.008840733149555e-06, + "chamfer": 3.3564356272108853e-06, + "track": 6.524051059386693e-07, + "acceleration": 3.8895018406037707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5326246436161455e-06, + "observation_loss": 3.893849680025596e-06, + "chamfer": 3.264887709519826e-06, + "track": 6.289617999755137e-07, + "acceleration": 6.387750204339682e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.713994258054299e-06, + "observation_loss": 3.961185029766057e-06, + "chamfer": 3.31528349306609e-06, + "track": 6.459016503868042e-07, + "acceleration": 7.528093988184992e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.4906605580763426e-06, + "observation_loss": 4.10302345699165e-06, + "chamfer": 3.4157610571128316e-06, + "track": 6.872624567222374e-07, + "acceleration": 3.8763695897614525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.669122517952928e-06, + "observation_loss": 4.3852610360772815e-06, + "chamfer": 3.6290043681219686e-06, + "track": 7.562565542684752e-07, + "acceleration": 2.8386156714077515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.087009412818588e-06, + "observation_loss": 4.7318330871348735e-06, + "chamfer": 3.8943903746258e-06, + "track": 8.374427693524922e-07, + "acceleration": 3.551764962139714e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.3244784794515e-06, + "observation_loss": 4.8454762691108044e-06, + "chamfer": 3.983187525591347e-06, + "track": 8.622889140497136e-07, + "acceleration": 4.790022671841143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.404424882726744e-06, + "observation_loss": 4.781596999237081e-06, + "chamfer": 3.928344540327089e-06, + "track": 8.53252515753411e-07, + "acceleration": 6.228279403330816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.1516062740120105e-06, + "observation_loss": 4.8129127208085265e-06, + "chamfer": 3.960165486205369e-06, + "track": 8.527472346031573e-07, + "acceleration": 3.386935816251935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.321567186911125e-06, + "observation_loss": 5.081243216409348e-06, + "chamfer": 4.182713382760994e-06, + "track": 8.98529776804935e-07, + "acceleration": 2.4032411261032394e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.610153039015131e-06, + "observation_loss": 5.419767603598302e-06, + "chamfer": 4.446560524229426e-06, + "track": 9.732070793688763e-07, + "acceleration": 1.9038525067571754e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.935869921813719e-06, + "observation_loss": 5.830935151607264e-06, + "chamfer": 4.776231435243972e-06, + "track": 1.0547039437369676e-06, + "acceleration": 1.0493472046846364e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.315431164694019e-06, + "observation_loss": 6.1151381487434264e-06, + "chamfer": 4.992342383047799e-06, + "track": 1.1227957656956278e-06, + "acceleration": 2.002928880528998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.346222107822541e-06, + "observation_loss": 6.151362867967691e-06, + "chamfer": 5.027947281632805e-06, + "track": 1.1234154726480483e-06, + "acceleration": 1.9485901248117443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.299518190644449e-06, + "observation_loss": 6.091813247621758e-06, + "chamfer": 4.978705419489415e-06, + "track": 1.1131078281323425e-06, + "acceleration": 2.0770490039012657e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.391770966729382e-06, + "observation_loss": 6.152650712465402e-06, + "chamfer": 5.010099812352564e-06, + "track": 1.1425509001128376e-06, + "acceleration": 2.3912011215543316e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 7.031425411696546e-06, + "observation_loss": 6.2603708101960365e-06, + "chamfer": 5.090427293907851e-06, + "track": 1.1699435162881855e-06, + "acceleration": 7.71054715187347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.0665810198988765e-06, + "observation_loss": 5.997399966872763e-06, + "chamfer": 4.896421160083264e-06, + "track": 1.1009785794158233e-06, + "acceleration": 1.069181280399789e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.72005262458697e-06, + "observation_loss": 5.636897640215466e-06, + "chamfer": 4.610901669366285e-06, + "track": 1.0259960845360183e-06, + "acceleration": 1.0831550980583415e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.862645477667684e-06, + "observation_loss": 5.4320184972311836e-06, + "chamfer": 4.444971636985429e-06, + "track": 9.87046860245755e-07, + "acceleration": 1.4306268667496624e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 7.887908395787235e-06, + "observation_loss": 5.6177973419835325e-06, + "chamfer": 4.572847501549404e-06, + "track": 1.0449499541209661e-06, + "acceleration": 2.270111053803703e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 8.154148417816032e-06, + "observation_loss": 5.800190592708532e-06, + "chamfer": 4.692230049840873e-06, + "track": 1.1079605428676587e-06, + "acceleration": 2.3539580524811754e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.6041469583287835e-06, + "observation_loss": 5.979180969006848e-06, + "chamfer": 4.823794370167889e-06, + "track": 1.1553868262126343e-06, + "acceleration": 1.6249657619482605e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.2509342317061964e-06, + "observation_loss": 6.0980069065408316e-06, + "chamfer": 4.914556029689265e-06, + "track": 1.1834508768515661e-06, + "acceleration": 1.1529273251653649e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.601769539178349e-06, + "observation_loss": 6.17078421782935e-06, + "chamfer": 4.967166660208022e-06, + "track": 1.2036175576213282e-06, + "acceleration": 1.4309855487226741e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.428928711306071e-06, + "observation_loss": 6.2860290199751034e-06, + "chamfer": 5.058159786131e-06, + "track": 1.2278690064704278e-06, + "acceleration": 1.1428998050178052e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.316146366065368e-06, + "observation_loss": 6.734188900736626e-06, + "chamfer": 5.397736003942555e-06, + "track": 1.3364530104809091e-06, + "acceleration": 5.819576358589984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.565909982076846e-06, + "observation_loss": 7.326359082071576e-06, + "chamfer": 5.82013990424457e-06, + "track": 1.506219291513844e-06, + "acceleration": 2.3955095684868866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 7.999247827683575e-06, + "observation_loss": 7.682891919102985e-06, + "chamfer": 6.080951152398484e-06, + "track": 1.6019408803913393e-06, + "acceleration": 3.1635553909836744e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 7.945430297695566e-06, + "observation_loss": 7.560065114375902e-06, + "chamfer": 6.000203484290978e-06, + "track": 1.5598617437717621e-06, + "acceleration": 3.8536481383744103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.72681687521981e-06, + "observation_loss": 7.367531452473486e-06, + "chamfer": 5.867692379979417e-06, + "track": 1.4998389588072314e-06, + "acceleration": 3.592850248423929e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.365980764006963e-06, + "observation_loss": 7.202975666587008e-06, + "chamfer": 5.741707809647778e-06, + "track": 1.4612679706260678e-06, + "acceleration": 1.6300499794397183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1174649747263175e-06, + "observation_loss": 7.042357538011856e-06, + "chamfer": 5.62006880500121e-06, + "track": 1.422288733010646e-06, + "acceleration": 7.510727328963185e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.133270173653727e-06, + "observation_loss": 7.03752721165074e-06, + "chamfer": 5.613228040601825e-06, + "track": 1.4242989436752396e-06, + "acceleration": 9.574313963867098e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.202483175205998e-06, + "observation_loss": 7.087288395268843e-06, + "chamfer": 5.64024958293885e-06, + "track": 1.4470385849563172e-06, + "acceleration": 1.1519490072942062e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.24396977602737e-06, + "observation_loss": 7.166506748035317e-06, + "chamfer": 5.695581876352662e-06, + "track": 1.4709247579958173e-06, + "acceleration": 7.746324826030104e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.458097570633981e-06, + "observation_loss": 7.251063379953848e-06, + "chamfer": 5.74436080569285e-06, + "track": 1.5067026879478362e-06, + "acceleration": 2.0703429015611619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.9157971413224e-06, + "observation_loss": 7.342606750171399e-06, + "chamfer": 5.814196811115835e-06, + "track": 1.5284098253687262e-06, + "acceleration": 5.731899932470697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.724548933969345e-06, + "observation_loss": 7.502549124183133e-06, + "chamfer": 5.922539912717184e-06, + "track": 1.580009325152787e-06, + "acceleration": 1.2220000371598871e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.448889613850042e-06, + "observation_loss": 7.676483619434293e-06, + "chamfer": 6.056236998119857e-06, + "track": 1.6202463939407608e-06, + "acceleration": 1.7724059944157489e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.952019925345667e-06, + "observation_loss": 7.877702955738641e-06, + "chamfer": 6.212103016878245e-06, + "track": 1.6656000525472336e-06, + "acceleration": 1.0743169696070254e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.719681318325456e-06, + "observation_loss": 8.265005817520432e-06, + "chamfer": 6.489440238510724e-06, + "track": 1.7755653516360326e-06, + "acceleration": 4.546751881662203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.117832632909995e-06, + "observation_loss": 8.802091542747803e-06, + "chamfer": 6.8560293584596366e-06, + "track": 1.946062411661842e-06, + "acceleration": 3.1574080594509724e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.54029292188352e-06, + "observation_loss": 9.42008409765549e-06, + "chamfer": 7.276881206053076e-06, + "track": 2.1432026642287383e-06, + "acceleration": 1.2020895212572213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.867102562566288e-06, + "observation_loss": 9.770571523404215e-06, + "chamfer": 7.515067864005687e-06, + "track": 2.2555038867722033e-06, + "acceleration": 9.653113153262893e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0300243957317434e-05, + "observation_loss": 1.0003520401369315e-05, + "chamfer": 7.675058441236615e-06, + "track": 2.328461732759024e-06, + "acceleration": 2.967233569961536e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.044307373376796e-05, + "observation_loss": 1.0250565537717193e-05, + "chamfer": 7.825343345757574e-06, + "track": 2.4252221919596195e-06, + "acceleration": 1.9250829552674986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0504128113097977e-05, + "observation_loss": 1.0373883014835883e-05, + "chamfer": 7.899933734734077e-06, + "track": 2.4739495074754814e-06, + "acceleration": 1.302446719364525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.060349040926667e-05, + "observation_loss": 1.02303056337405e-05, + "chamfer": 7.799376362527255e-06, + "track": 2.4309288164658938e-06, + "acceleration": 3.7318434920052823e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0834004569915123e-05, + "observation_loss": 9.892307389236521e-06, + "chamfer": 7.588808330183383e-06, + "track": 2.3034992864268133e-06, + "acceleration": 9.41696896461508e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.028337464958895e-05, + "observation_loss": 9.695359040051699e-06, + "chamfer": 7.44843191569089e-06, + "track": 2.2469268969871337e-06, + "acceleration": 5.880152684767381e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.751235666044522e-06, + "observation_loss": 9.515460078546312e-06, + "chamfer": 7.320684744627215e-06, + "track": 2.194775561292772e-06, + "acceleration": 2.357754311788085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.476576451561414e-06, + "observation_loss": 9.241606676368974e-06, + "chamfer": 7.11864595359657e-06, + "track": 2.12296095014608e-06, + "acceleration": 2.349697183490207e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.221939762937836e-06, + "observation_loss": 8.987261026049964e-06, + "chamfer": 6.9369452830869704e-06, + "track": 2.050315288215643e-06, + "acceleration": 2.3467860899017978e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.012094617180992e-05, + "observation_loss": 9.119279638980515e-06, + "chamfer": 7.020698376436485e-06, + "track": 2.0985808077966794e-06, + "acceleration": 1.0016665328294039e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2132633855799213e-05, + "observation_loss": 9.280185622628778e-06, + "chamfer": 7.1021281655703206e-06, + "track": 2.1780570023111068e-06, + "acceleration": 2.8524486879177857e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2302692994126119e-05, + "observation_loss": 9.30080386751797e-06, + "chamfer": 7.136359272408299e-06, + "track": 2.1644441403623205e-06, + "acceleration": 3.0018891266081482e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0913255209743511e-05, + "observation_loss": 9.267614586860873e-06, + "chamfer": 7.088942311384017e-06, + "track": 2.178672275476856e-06, + "acceleration": 1.6456408502563136e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0699187441787217e-05, + "observation_loss": 9.266747838410083e-06, + "chamfer": 7.077710961311823e-06, + "track": 2.189037104471936e-06, + "acceleration": 1.4324394896902959e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0197121810051613e-05, + "observation_loss": 9.381442396261264e-06, + "chamfer": 7.152850685088197e-06, + "track": 2.228591711173067e-06, + "acceleration": 8.156798685376998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.92596960713854e-06, + "observation_loss": 9.517663784208708e-06, + "chamfer": 7.218974587885896e-06, + "track": 2.2986891963228118e-06, + "acceleration": 4.0830599346008967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.813427823246457e-06, + "observation_loss": 9.710464837553445e-06, + "chamfer": 7.344381174334558e-06, + "track": 2.366083890592563e-06, + "acceleration": 1.0296312780155858e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0064934031106532e-05, + "observation_loss": 9.977715308195911e-06, + "chamfer": 7.52970527173602e-06, + "track": 2.4480095817125402e-06, + "acceleration": 8.721838185010711e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0300388566975016e-05, + "observation_loss": 1.0186628060182557e-05, + "chamfer": 7.672761967114639e-06, + "track": 2.513866093067918e-06, + "acceleration": 1.137606631118615e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0372279575676657e-05, + "observation_loss": 1.026834434014745e-05, + "chamfer": 7.717604603385553e-06, + "track": 2.5507395093882224e-06, + "acceleration": 1.0393499394467653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0496018148842268e-05, + "observation_loss": 1.0333451427868567e-05, + "chamfer": 7.758153515169397e-06, + "track": 2.5752974579518195e-06, + "acceleration": 1.6256633728062297e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0564458534645382e-05, + "observation_loss": 1.0403118722024374e-05, + "chamfer": 7.793296390445903e-06, + "track": 2.609822558952146e-06, + "acceleration": 1.613399120969916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0502084478503093e-05, + "observation_loss": 1.0422514606034383e-05, + "chamfer": 7.798442311468534e-06, + "track": 2.6240720671921736e-06, + "acceleration": 7.956979430900901e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0632952580635902e-05, + "observation_loss": 1.0409969036118127e-05, + "chamfer": 7.789818482706323e-06, + "track": 2.6201503260381287e-06, + "acceleration": 2.2298335977666284e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0581140486465301e-05, + "observation_loss": 1.0466159437783062e-05, + "chamfer": 7.820849532436114e-06, + "track": 2.6453099053469487e-06, + "acceleration": 1.1498128316134171e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0644961548678111e-05, + "observation_loss": 1.0536883564782329e-05, + "chamfer": 7.852096132410225e-06, + "track": 2.68478765974578e-06, + "acceleration": 1.0807820416403047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0682158972485922e-05, + "observation_loss": 1.0599180313874967e-05, + "chamfer": 7.891326276876498e-06, + "track": 2.707853809624794e-06, + "acceleration": 8.297870834894638e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0756629308161791e-05, + "observation_loss": 1.0679548722691834e-05, + "chamfer": 7.93846083979588e-06, + "track": 2.741087882895954e-06, + "acceleration": 7.70801733551707e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.074991905625211e-05, + "observation_loss": 1.0637739251251332e-05, + "chamfer": 7.915587957540993e-06, + "track": 2.7221510663366644e-06, + "acceleration": 1.1217989737133394e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0597613254503813e-05, + "observation_loss": 1.0500959433557e-05, + "chamfer": 7.830249160178937e-06, + "track": 2.670710273378063e-06, + "acceleration": 9.665351541343625e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.21832423033205e-06, + "chamfer_mean": 5.525664742359974e-06, + "track_mean": 1.4892719383633828e-06, + "acceleration_mean": 1.20338749742821e-06, + "observation_score": 7.014936710921423e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.430206561999512 + }, + "score_arrays_file": "pass_scores/pass_end_0362.npz", + "score_arrays_sha256": "59048e02921e0e9a4885c1190924970387e0b6d06cf539d402d4755bc99244c0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0363.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0363.json new file mode 100644 index 0000000000000000000000000000000000000000..ff0d6f50a4a6cf6556867aa7547d47c40f91b770 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0363.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34848, + "completed_passes": 363, + "snapshot": "pass_end_0363", + "candidate": true, + "snapshot_arrays_sha256": "ec0c048f42a0b276be7f692298e21c9e4fc70a414121042e8b3a308b00d78db0", + "score": 7.009186885416814e-06, + "score_result": { + "score": 7.009186885416814e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8814611141569912e-06, + 3.1494469112658408e-06, + 3.207129111615359e-06, + 3.640045179054141e-06, + 4.159666787018068e-06, + 4.398597411636729e-06, + 4.158174306212459e-06, + 3.978655058745062e-06, + 3.903893230017275e-06, + 3.978479981014971e-06, + 4.3440704757813364e-06, + 4.7776738938409835e-06, + 5.069558937975671e-06, + 5.256810709397541e-06, + 5.245764441497158e-06, + 5.137674634170253e-06, + 4.78880383525393e-06, + 4.4005450945405755e-06, + 4.246267963026185e-06, + 4.249104677001014e-06, + 4.192979304207256e-06, + 4.003192771051545e-06, + 3.888830178766511e-06, + 3.958817615057342e-06, + 4.1035709728021175e-06, + 4.387661647342611e-06, + 4.731480203190586e-06, + 4.8414667617180385e-06, + 4.7776061364857014e-06, + 4.811115559277823e-06, + 5.080098617327167e-06, + 5.4214206102187745e-06, + 5.835038336954312e-06, + 6.1206774262245744e-06, + 6.155145456432365e-06, + 6.094842319726013e-06, + 6.153146387077868e-06, + 6.25772554485593e-06, + 5.995789706503274e-06, + 5.634794888464967e-06, + 5.426574716693722e-06, + 5.613056600850541e-06, + 5.794072876597056e-06, + 5.975901331112254e-06, + 6.096091965446249e-06, + 6.167068931972608e-06, + 6.281616606429452e-06, + 6.727409527229611e-06, + 7.316574283322552e-06, + 7.671457751712296e-06, + 7.546345841547009e-06, + 7.35579124011565e-06, + 7.1910862970980816e-06, + 7.025277682259912e-06, + 7.0234641498245765e-06, + 7.078628641465912e-06, + 7.160407676565228e-06, + 7.2471607381885406e-06, + 7.336959697568091e-06, + 7.496911621274194e-06, + 7.670452760066837e-06, + 7.871538400650024e-06, + 8.257989065896254e-06, + 8.795228495728225e-06, + 9.413986845174804e-06, + 9.765753020474222e-06, + 1.0000141628552228e-05, + 1.024793709802907e-05, + 1.0370586096541956e-05, + 1.0225336154690012e-05, + 9.885241524898447e-06, + 9.68752647168003e-06, + 9.507886716164649e-06, + 9.23439165489981e-06, + 8.980777238321025e-06, + 9.115427019423805e-06, + 9.27438486542087e-06, + 9.293382390751503e-06, + 9.257926649297588e-06, + 9.257597412215546e-06, + 9.371003216074314e-06, + 9.507442882750183e-06, + 9.700109330879059e-06, + 9.966351171897259e-06, + 1.0174431736231782e-05, + 1.0256260793539695e-05, + 1.0320933142793365e-05, + 1.0389898307039402e-05, + 1.0409401511424221e-05, + 1.0396410289104097e-05, + 1.0451556590851396e-05, + 1.0521704098209739e-05, + 1.0583630682958756e-05, + 1.0663615285011474e-05, + 1.0621582987369038e-05, + 1.0485035090823658e-05 + ] + ], + "episode_mean_losses": [ + 7.009186885416814e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8814611141569912e-06, + "observation_loss": 2.8814611141569912e-06, + "chamfer": 2.4435589693894144e-06, + "track": 4.379022016109957e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1812545532593504e-05, + "observation_loss": 3.1494469112658408e-06, + "chamfer": 2.663436589500634e-06, + "track": 4.860103786086256e-07, + "acceleration": 3.8663099985569715e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3032658646116033e-05, + "observation_loss": 3.207129111615359e-06, + "chamfer": 2.71633916781866e-06, + "track": 4.907898869532801e-07, + "acceleration": 1.9825529307127e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0068455594591796e-05, + "observation_loss": 3.640045179054141e-06, + "chamfer": 3.070398861382273e-06, + "track": 5.696464313587057e-07, + "acceleration": 6.4284099607903045e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.688634246325819e-06, + "observation_loss": 4.159666787018068e-06, + "chamfer": 3.4892657367890934e-06, + "track": 6.704012207592314e-07, + "acceleration": 1.528967345620913e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.487339876708575e-06, + "observation_loss": 4.398597411636729e-06, + "chamfer": 3.6797571283386787e-06, + "track": 7.188401696112123e-07, + "acceleration": 1.0887424650718458e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.750424523081165e-06, + "observation_loss": 4.158174306212459e-06, + "chamfer": 3.4827642139134696e-06, + "track": 6.754103196726646e-07, + "acceleration": 5.92250216868706e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.605891263054218e-06, + "observation_loss": 3.978655058745062e-06, + "chamfer": 3.338037686262396e-06, + "track": 6.406172019524092e-07, + "acceleration": 6.272360906223184e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.385176453070017e-06, + "observation_loss": 3.903893230017275e-06, + "chamfer": 3.280398459537537e-06, + "track": 6.234946567929001e-07, + "acceleration": 4.812830525224854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.280146185919875e-06, + "observation_loss": 3.978479981014971e-06, + "chamfer": 3.3423332297388697e-06, + "track": 6.361468649629387e-07, + "acceleration": 3.01666034374648e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.490254923439352e-06, + "observation_loss": 4.3440704757813364e-06, + "chamfer": 3.641365083240089e-06, + "track": 7.02705563071504e-07, + "acceleration": 1.4618450450143428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.870227712672204e-06, + "observation_loss": 4.7776738938409835e-06, + "chamfer": 3.990141522081103e-06, + "track": 7.875325422901369e-07, + "acceleration": 9.25536127738269e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.173225417820504e-06, + "observation_loss": 5.069558937975671e-06, + "chamfer": 4.230809736327501e-06, + "track": 8.38749258491589e-07, + "acceleration": 1.0366668590222616e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.363797754398547e-06, + "observation_loss": 5.256810709397541e-06, + "chamfer": 4.390822596178623e-06, + "track": 8.659882269057562e-07, + "acceleration": 1.0698709473899726e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.307367700879695e-06, + "observation_loss": 5.245764441497158e-06, + "chamfer": 4.385567081044428e-06, + "track": 8.601971899224736e-07, + "acceleration": 6.160342280736586e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.262096237856895e-06, + "observation_loss": 5.137674634170253e-06, + "chamfer": 4.297133273212239e-06, + "track": 8.405414178014325e-07, + "acceleration": 1.2442166053006076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.991094101569615e-06, + "observation_loss": 4.78880383525393e-06, + "chamfer": 4.010448719782289e-06, + "track": 7.783551154716406e-07, + "acceleration": 2.0229049368936103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.7446142161788885e-06, + "observation_loss": 4.4005450945405755e-06, + "chamfer": 3.688702236104291e-06, + "track": 7.118430289665412e-07, + "acceleration": 3.440690647948941e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.436762537807226e-06, + "observation_loss": 4.246267963026185e-06, + "chamfer": 3.5567347822507145e-06, + "track": 6.89533237618889e-07, + "acceleration": 1.9049473110044346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.370056103653042e-06, + "observation_loss": 4.249104677001014e-06, + "chamfer": 3.554853492460097e-06, + "track": 6.942511276974983e-07, + "acceleration": 1.2095121348920657e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.5015472096565645e-06, + "observation_loss": 4.192979304207256e-06, + "chamfer": 3.507171413730248e-06, + "track": 6.858080041638459e-07, + "acceleration": 3.0856770649734244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.397003522171872e-06, + "observation_loss": 4.003192771051545e-06, + "chamfer": 3.3516937492095167e-06, + "track": 6.514989081551903e-07, + "acceleration": 3.9381077954203647e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.538006578513887e-06, + "observation_loss": 3.888830178766511e-06, + "chamfer": 3.260627408963046e-06, + "track": 6.282025992732088e-07, + "acceleration": 6.491761723737e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.717692718259059e-06, + "observation_loss": 3.958817615057342e-06, + "chamfer": 3.3131957479781704e-06, + "track": 6.456218102357525e-07, + "acceleration": 7.588753305753926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.493097549129743e-06, + "observation_loss": 4.1035709728021175e-06, + "chamfer": 3.416098707020865e-06, + "track": 6.874724931549281e-07, + "acceleration": 3.895266900144634e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.671961050917162e-06, + "observation_loss": 4.387661647342611e-06, + "chamfer": 3.6307858408690663e-06, + "track": 7.568759770038014e-07, + "acceleration": 2.8429934673113166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.086070814286359e-06, + "observation_loss": 4.731480203190586e-06, + "chamfer": 3.8941366256040055e-06, + "track": 8.373435207431612e-07, + "acceleration": 3.545908384694485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.324554877006449e-06, + "observation_loss": 4.8414667617180385e-06, + "chamfer": 3.9801880120649e-06, + "track": 8.612786359663005e-07, + "acceleration": 4.830881152884103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.394245818024501e-06, + "observation_loss": 4.7776061364857014e-06, + "chamfer": 3.925187229469884e-06, + "track": 8.524189638592361e-07, + "acceleration": 6.166398520690564e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.136629624757916e-06, + "observation_loss": 4.811115559277823e-06, + "chamfer": 3.958480647270335e-06, + "track": 8.526347983206506e-07, + "acceleration": 3.255142360103491e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.309954758558888e-06, + "observation_loss": 5.080098617327167e-06, + "chamfer": 4.181563781457953e-06, + "track": 8.985347221823758e-07, + "acceleration": 2.2985634018368728e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.600985787168611e-06, + "observation_loss": 5.4214206102187745e-06, + "chamfer": 4.447540050023235e-06, + "track": 9.738805601955391e-07, + "acceleration": 1.7956517694983631e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.936932666372741e-06, + "observation_loss": 5.835038336954312e-06, + "chamfer": 4.779048595082713e-06, + "track": 1.0559897418715991e-06, + "acceleration": 1.0189421573159052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.321719411062077e-06, + "observation_loss": 6.1206774262245744e-06, + "chamfer": 4.996293682779651e-06, + "track": 1.1243837434449233e-06, + "acceleration": 2.010418427289551e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.353209300868912e-06, + "observation_loss": 6.155145456432365e-06, + "chamfer": 5.030490228818962e-06, + "track": 1.1246551139265648e-06, + "acceleration": 1.9806402917765809e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.300191216723761e-06, + "observation_loss": 6.094842319726013e-06, + "chamfer": 4.981182883057045e-06, + "track": 1.1136596640426433e-06, + "acceleration": 2.0534882594347437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.36444292467786e-06, + "observation_loss": 6.153146387077868e-06, + "chamfer": 5.010794211557368e-06, + "track": 1.1423522892073379e-06, + "acceleration": 2.1129655181084672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.96847837389214e-06, + "observation_loss": 6.25772554485593e-06, + "chamfer": 5.088926627649926e-06, + "track": 1.168799030892842e-06, + "acceleration": 7.107529427230475e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 7.011696652625687e-06, + "observation_loss": 5.995789706503274e-06, + "chamfer": 4.8957185754261445e-06, + "track": 1.1000712447639671e-06, + "acceleration": 1.0159069461224135e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.677293640677817e-06, + "observation_loss": 5.634794888464967e-06, + "chamfer": 4.609786628861912e-06, + "track": 1.0250082596030552e-06, + "acceleration": 1.0424989795865258e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.734477665304439e-06, + "observation_loss": 5.426574716693722e-06, + "chamfer": 4.44096576757147e-06, + "track": 9.856088354354142e-07, + "acceleration": 1.3079028349238797e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 7.688746336498298e-06, + "observation_loss": 5.613056600850541e-06, + "chamfer": 4.56897760159336e-06, + "track": 1.0440788855703431e-06, + "acceleration": 2.0756901903951075e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 8.109935151878744e-06, + "observation_loss": 5.794072876597056e-06, + "chamfer": 4.687307864514878e-06, + "track": 1.1067651257690159e-06, + "acceleration": 2.3158620479080128e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.754375474178232e-06, + "observation_loss": 5.975901331112254e-06, + "chamfer": 4.821033144253306e-06, + "track": 1.1548679594852729e-06, + "acceleration": 1.778474484126491e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.256518983922433e-06, + "observation_loss": 6.096091965446249e-06, + "chamfer": 4.912857093586354e-06, + "track": 1.1832347581730573e-06, + "acceleration": 1.1604270184761845e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.456676939909812e-06, + "observation_loss": 6.167068931972608e-06, + "chamfer": 4.9642576414044015e-06, + "track": 1.202811517941882e-06, + "acceleration": 1.2896077805635286e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.513699529226869e-06, + "observation_loss": 6.281616606429452e-06, + "chamfer": 5.054577286500717e-06, + "track": 1.2270392062418978e-06, + "acceleration": 1.2320831501710927e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.331862889259355e-06, + "observation_loss": 6.727409527229611e-06, + "chamfer": 5.392690127337119e-06, + "track": 1.3347193998924922e-06, + "acceleration": 6.044535325600009e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.623201781825628e-06, + "observation_loss": 7.316574283322552e-06, + "chamfer": 5.812745712319156e-06, + "track": 1.5038284573165583e-06, + "acceleration": 3.0662727112940047e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.028352567635011e-06, + "observation_loss": 7.671457751712296e-06, + "chamfer": 6.07264883001335e-06, + "track": 1.598808694325271e-06, + "acceleration": 3.568943895970733e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.078756764007267e-06, + "observation_loss": 7.546345841547009e-06, + "chamfer": 5.990619229123695e-06, + "track": 1.5557268397969892e-06, + "acceleration": 5.3241132036419e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.771996024530381e-06, + "observation_loss": 7.35579124011565e-06, + "chamfer": 5.858863005414605e-06, + "track": 1.4969280073273694e-06, + "acceleration": 4.1620478441473097e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.409213139908388e-06, + "observation_loss": 7.1910862970980816e-06, + "chamfer": 5.732562840421451e-06, + "track": 1.4585236840503057e-06, + "acceleration": 2.18126928075435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1477052188129164e-06, + "observation_loss": 7.025277682259912e-06, + "chamfer": 5.607488219538936e-06, + "track": 1.4177894627209753e-06, + "acceleration": 1.224275649747142e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.168696356529836e-06, + "observation_loss": 7.0234641498245765e-06, + "chamfer": 5.602850706054596e-06, + "track": 1.4206134437699802e-06, + "acceleration": 1.4523216407269501e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.210028797999257e-06, + "observation_loss": 7.078628641465912e-06, + "chamfer": 5.633972250507213e-06, + "track": 1.4446563909586985e-06, + "acceleration": 1.3140015653334558e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.237017598527018e-06, + "observation_loss": 7.160407676565228e-06, + "chamfer": 5.691099886462325e-06, + "track": 1.4693079037897405e-06, + "acceleration": 7.66100143323456e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.446230029017897e-06, + "observation_loss": 7.2471607381885406e-06, + "chamfer": 5.74143177800579e-06, + "track": 1.5057288464959129e-06, + "acceleration": 1.990694329379039e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.904045560280792e-06, + "observation_loss": 7.336959697568091e-06, + "chamfer": 5.8099644775211345e-06, + "track": 1.526995220046956e-06, + "acceleration": 5.670858627127018e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.702421837369911e-06, + "observation_loss": 7.496911621274194e-06, + "chamfer": 5.918395800108556e-06, + "track": 1.578515821165638e-06, + "acceleration": 1.2055105571562308e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.442478585697245e-06, + "observation_loss": 7.670452760066837e-06, + "chamfer": 6.051774562365608e-06, + "track": 1.6186784250749042e-06, + "acceleration": 1.7720260530040832e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.949808943725657e-06, + "observation_loss": 7.871538400650024e-06, + "chamfer": 6.207530532265082e-06, + "track": 1.6640080957586179e-06, + "acceleration": 1.0782705430756323e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.713487659406383e-06, + "observation_loss": 8.257989065896254e-06, + "chamfer": 6.484213827206986e-06, + "track": 1.7737755797497812e-06, + "acceleration": 4.5549896299235115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.109372513194103e-06, + "observation_loss": 8.795228495728225e-06, + "chamfer": 6.851028956589289e-06, + "track": 1.944199766512611e-06, + "acceleration": 3.1414435852639144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.532613148621749e-06, + "observation_loss": 9.413986845174804e-06, + "chamfer": 7.272484708664706e-06, + "track": 2.141501909136423e-06, + "acceleration": 1.1862658055861175e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.861110811471008e-06, + "observation_loss": 9.765753020474222e-06, + "chamfer": 7.511679086746881e-06, + "track": 2.2540737063536653e-06, + "acceleration": 9.535794731618807e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0295776519342326e-05, + "observation_loss": 1.0000141628552228e-05, + "chamfer": 7.672755600651726e-06, + "track": 2.327386027900502e-06, + "acceleration": 2.956348055249691e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0440749065310229e-05, + "observation_loss": 1.024793709802907e-05, + "chamfer": 7.823518899385817e-06, + "track": 2.424417971269577e-06, + "acceleration": 1.9281193885944958e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0502255463507026e-05, + "observation_loss": 1.0370586096541956e-05, + "chamfer": 7.897649993537925e-06, + "track": 2.4729365577513818e-06, + "acceleration": 1.316689264285742e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0602953807392623e-05, + "observation_loss": 1.0225336154690012e-05, + "chamfer": 7.795872079441324e-06, + "track": 2.429464302622364e-06, + "acceleration": 3.776172263769695e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0837324225576594e-05, + "observation_loss": 9.885241524898447e-06, + "chamfer": 7.5837760959984735e-06, + "track": 2.3014654288999736e-06, + "acceleration": 9.520831554254983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.028031692840159e-05, + "observation_loss": 9.68752647168003e-06, + "chamfer": 7.442836249538232e-06, + "track": 2.2446897673944477e-06, + "acceleration": 5.927906840952346e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.745411261974368e-06, + "observation_loss": 9.507886716164649e-06, + "chamfer": 7.315173661481822e-06, + "track": 2.1927125999354757e-06, + "acceleration": 2.3752457423142914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.47083390201442e-06, + "observation_loss": 9.23439165489981e-06, + "chamfer": 7.113427727745147e-06, + "track": 2.1209636997809866e-06, + "acceleration": 2.3644264501854195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.20491038414184e-06, + "observation_loss": 8.980777238321025e-06, + "chamfer": 6.9319662543421146e-06, + "track": 2.048811211352586e-06, + "acceleration": 2.24133600568166e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 1.0031946658273228e-05, + "observation_loss": 9.115427019423805e-06, + "chamfer": 7.018389624136034e-06, + "track": 2.0970371679140953e-06, + "acceleration": 9.165191841020714e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2185838386358228e-05, + "observation_loss": 9.27438486542087e-06, + "chamfer": 7.097539310052525e-06, + "track": 2.1768455553683452e-06, + "acceleration": 2.911453520937357e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2349543794698548e-05, + "observation_loss": 9.293382390751503e-06, + "chamfer": 7.130739959393395e-06, + "track": 2.162642886105459e-06, + "acceleration": 3.0561616313207196e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0918434782070108e-05, + "observation_loss": 9.257926649297588e-06, + "chamfer": 7.081996045599226e-06, + "track": 2.1759310584457126e-06, + "acceleration": 1.6605079053988447e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0719196325226221e-05, + "observation_loss": 9.257597412215546e-06, + "chamfer": 7.070908395689912e-06, + "track": 2.186688789151958e-06, + "acceleration": 1.4615987993238377e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0177012882195413e-05, + "observation_loss": 9.371003216074314e-06, + "chamfer": 7.145455583668081e-06, + "track": 2.2255478597799083e-06, + "acceleration": 8.06009325060586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.903814316203352e-06, + "observation_loss": 9.507442882750183e-06, + "chamfer": 7.21204105502693e-06, + "track": 2.295402055096929e-06, + "acceleration": 3.963714902965876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.801090527616907e-06, + "observation_loss": 9.700109330879059e-06, + "chamfer": 7.3375290412514005e-06, + "track": 2.3625805170013336e-06, + "acceleration": 1.0098104041844636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0055143320641946e-05, + "observation_loss": 9.966351171897259e-06, + "chamfer": 7.522142823290778e-06, + "track": 2.4442085759801557e-06, + "acceleration": 8.879229795866195e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0287067198078148e-05, + "observation_loss": 1.0174431736231782e-05, + "chamfer": 7.664573786314577e-06, + "track": 2.5098577225435292e-06, + "acceleration": 1.12635113680426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0359467523812782e-05, + "observation_loss": 1.0256260793539695e-05, + "chamfer": 7.709720193815883e-06, + "track": 2.5465401449764613e-06, + "acceleration": 1.0320693633047995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0483144251338672e-05, + "observation_loss": 1.0320933142793365e-05, + "chamfer": 7.749934411549475e-06, + "track": 2.5709985038702143e-06, + "acceleration": 1.6221073906308447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0551684681558982e-05, + "observation_loss": 1.0389898307039402e-05, + "chamfer": 7.784587069181725e-06, + "track": 2.605311237857677e-06, + "acceleration": 1.6178610451333952e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0487756298971362e-05, + "observation_loss": 1.0409401511424221e-05, + "chamfer": 7.789904884702992e-06, + "track": 2.619496399347554e-06, + "acceleration": 7.835451043547437e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0618112355587073e-05, + "observation_loss": 1.0396410289104097e-05, + "chamfer": 7.781010936014354e-06, + "track": 2.615399125716067e-06, + "acceleration": 2.2170230806750624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.056707878888119e-05, + "observation_loss": 1.0451556590851396e-05, + "chamfer": 7.811288924131077e-06, + "track": 2.640267439346644e-06, + "acceleration": 1.1552207013210136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.063036143023055e-05, + "observation_loss": 1.0521704098209739e-05, + "chamfer": 7.842179911676794e-06, + "track": 2.679523959159269e-06, + "acceleration": 1.0865771571388905e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0666539310477674e-05, + "observation_loss": 1.0583630682958756e-05, + "chamfer": 7.881249985075556e-06, + "track": 2.7023809252568753e-06, + "acceleration": 8.290845698866178e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.074059764505364e-05, + "observation_loss": 1.0663615285011474e-05, + "chamfer": 7.928172635729425e-06, + "track": 2.7354426492820494e-06, + "acceleration": 7.698239556930275e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.073423118214123e-05, + "observation_loss": 1.0621582987369038e-05, + "chamfer": 7.90517333371099e-06, + "track": 2.7164096536580473e-06, + "acceleration": 1.1264783950082347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0581766218820121e-05, + "observation_loss": 1.0485035090823658e-05, + "chamfer": 7.82004190114094e-06, + "track": 2.664992962309043e-06, + "acceleration": 9.673093614992467e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.213761816477927e-06, + "chamfer_mean": 5.5215349637668014e-06, + "track_mean": 1.4876519252027265e-06, + "acceleration_mean": 1.2045749548939e-06, + "observation_score": 7.009186885416814e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4149788169997919 + }, + "score_arrays_file": "pass_scores/pass_end_0363.npz", + "score_arrays_sha256": "e699c805fabf9e46e03f349fa4b9da0fd3c66e74b9361bbde144518a60325dc0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0364.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0364.json new file mode 100644 index 0000000000000000000000000000000000000000..ae0d6e31719ff0ba2668690c364b193a140beb15 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0364.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 34944, + "completed_passes": 364, + "snapshot": "pass_end_0364", + "candidate": true, + "snapshot_arrays_sha256": "f83c9acd7f4fab06c50d10ed582e9e79ff66c41b2a0ba8967ec709d5b3eff512", + "score": 6.995146433060502e-06, + "score_result": { + "score": 6.995146433060502e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8818194550694898e-06, + 3.149234089505626e-06, + 3.2062941954791313e-06, + 3.6391870708030183e-06, + 4.1583916754461825e-06, + 4.397400061861845e-06, + 4.157279818173265e-06, + 3.97745361624402e-06, + 3.9025480873533525e-06, + 3.976587777287932e-06, + 4.341706699051429e-06, + 4.77429648526595e-06, + 5.065342065790901e-06, + 5.2523801059578545e-06, + 5.2408968258532695e-06, + 5.132662408868782e-06, + 4.783844360645162e-06, + 4.395467840367928e-06, + 4.242179329594364e-06, + 4.244933279551333e-06, + 4.188045750197489e-06, + 3.996975465270225e-06, + 3.882757027895423e-06, + 3.9551282497996e-06, + 4.103411811229307e-06, + 4.389224613987608e-06, + 4.731074113806244e-06, + 4.837646883970592e-06, + 4.773905402544187e-06, + 4.809791789739393e-06, + 5.080198661744362e-06, + 5.424684331956087e-06, + 5.8408800214238e-06, + 6.128048880782444e-06, + 6.160656539577758e-06, + 6.099895017541712e-06, + 6.156325071060564e-06, + 6.255342668737285e-06, + 5.993434569973033e-06, + 5.631358362734318e-06, + 5.419314675236819e-06, + 5.608374067378463e-06, + 5.786874680779874e-06, + 5.975279691483593e-06, + 6.096065590099897e-06, + 6.163369107525796e-06, + 6.2784024521533865e-06, + 6.720969849993708e-06, + 7.302979611267801e-06, + 7.65191998652881e-06, + 7.527066372858826e-06, + 7.328584615606815e-06, + 7.149650173232658e-06, + 6.9839552452322096e-06, + 6.991959253355162e-06, + 7.0503433562407736e-06, + 7.13451800038456e-06, + 7.223457032523584e-06, + 7.3134528975060675e-06, + 7.472326615243219e-06, + 7.644290235475637e-06, + 7.841083970561158e-06, + 8.22322181193158e-06, + 8.756498573347926e-06, + 9.37257573241368e-06, + 9.723214134282898e-06, + 9.958106602425687e-06, + 1.0205150829278864e-05, + 1.0326349183742423e-05, + 1.0178594493481796e-05, + 9.836665412876755e-06, + 9.63884394877823e-06, + 9.459944521950092e-06, + 9.189096999762114e-06, + 8.93867400009185e-06, + 9.078664334083442e-06, + 9.240015970135573e-06, + 9.264198524761014e-06, + 9.232384400092997e-06, + 9.2372592916945e-06, + 9.35181560635101e-06, + 9.491132004768588e-06, + 9.68604854278965e-06, + 9.953099834092427e-06, + 1.0163569641008507e-05, + 1.0247148566122632e-05, + 1.031128158501815e-05, + 1.0380355888628401e-05, + 1.0400753126305062e-05, + 1.0387845577497501e-05, + 1.0441686754347757e-05, + 1.0512057087908033e-05, + 1.0575778105703648e-05, + 1.0656620361260138e-05, + 1.0614892744342797e-05, + 1.0477585419721436e-05 + ] + ], + "episode_mean_losses": [ + 6.995146433060502e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8818194550694898e-06, + "observation_loss": 2.8818194550694898e-06, + "chamfer": 2.443845005473122e-06, + "track": 4.3797450643978664e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.182580960332416e-05, + "observation_loss": 3.149234089505626e-06, + "chamfer": 2.663256509549683e-06, + "track": 4.859776367993618e-07, + "acceleration": 3.867657505907118e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3037857317831367e-05, + "observation_loss": 3.2062941954791313e-06, + "chamfer": 2.7156415853824e-06, + "track": 4.906526669401501e-07, + "acceleration": 1.983156289497856e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0071385986520909e-05, + "observation_loss": 3.6391870708030183e-06, + "chamfer": 3.0696828616783023e-06, + "track": 5.69504209124716e-07, + "acceleration": 6.432199370465241e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.691320893674856e-06, + "observation_loss": 4.1583916754461825e-06, + "chamfer": 3.488212996671791e-06, + "track": 6.70178792461229e-07, + "acceleration": 1.5329292182286736e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.4869278756086715e-06, + "observation_loss": 4.397400061861845e-06, + "chamfer": 3.6787807857763255e-06, + "track": 7.186192192421004e-07, + "acceleration": 1.0895280411205022e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.747872935695341e-06, + "observation_loss": 4.157279818173265e-06, + "chamfer": 3.482013880784507e-06, + "track": 6.75265994232177e-07, + "acceleration": 5.905932880523324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.60456340078963e-06, + "observation_loss": 3.97745361624402e-06, + "chamfer": 3.3370215533068404e-06, + "track": 6.404321197805984e-07, + "acceleration": 6.271096140153531e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.383439772936981e-06, + "observation_loss": 3.9025480873533525e-06, + "chamfer": 3.2792538604553556e-06, + "track": 6.232942268979969e-07, + "acceleration": 4.808919129573042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.277852895029355e-06, + "observation_loss": 3.976587777287932e-06, + "chamfer": 3.3407413866370916e-06, + "track": 6.358463338074216e-07, + "acceleration": 3.012652882716793e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.487759269977687e-06, + "observation_loss": 4.341706699051429e-06, + "chamfer": 3.639416263467865e-06, + "track": 7.022906061138201e-07, + "acceleration": 1.4605251408283948e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.866815288551152e-06, + "observation_loss": 4.77429648526595e-06, + "chamfer": 3.9873848436400294e-06, + "track": 7.869115279390826e-07, + "acceleration": 9.251892407746709e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.168949883227469e-06, + "observation_loss": 5.065342065790901e-06, + "chamfer": 4.227380486554466e-06, + "track": 8.379614087061782e-07, + "acceleration": 1.0360776059314958e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.359083843359258e-06, + "observation_loss": 5.2523801059578545e-06, + "chamfer": 4.387214175949339e-06, + "track": 8.651661573821912e-07, + "acceleration": 1.0670368766341198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.3025469242129475e-06, + "observation_loss": 5.2408968258532695e-06, + "chamfer": 4.381584858492715e-06, + "track": 8.593119105171354e-07, + "acceleration": 6.164994204027607e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.257167231320636e-06, + "observation_loss": 5.132662408868782e-06, + "chamfer": 4.293033725843998e-06, + "track": 8.396285693379468e-07, + "acceleration": 1.2450475139758055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.986273324902868e-06, + "observation_loss": 4.783844360645162e-06, + "chamfer": 4.006371455034241e-06, + "track": 7.774730192977586e-07, + "acceleration": 2.0242895004685124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.7406247176695615e-06, + "observation_loss": 4.395467840367928e-06, + "chamfer": 3.6844830901827663e-06, + "track": 7.109849775588373e-07, + "acceleration": 3.451571046753088e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.433051344676642e-06, + "observation_loss": 4.242179329594364e-06, + "chamfer": 3.5533234949980397e-06, + "track": 6.888560051265813e-07, + "acceleration": 1.908720435039868e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.364604137663264e-06, + "observation_loss": 4.244933279551333e-06, + "chamfer": 3.551370127752307e-06, + "track": 6.935632086424448e-07, + "acceleration": 1.1967068758167443e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.496770088735502e-06, + "observation_loss": 4.188045750197489e-06, + "chamfer": 3.5030611797992606e-06, + "track": 6.84984684085066e-07, + "acceleration": 3.0872419642946625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.389724381326232e-06, + "observation_loss": 3.996975465270225e-06, + "chamfer": 3.3464864372945158e-06, + "track": 6.50489084819128e-07, + "acceleration": 3.9274900132113544e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.5208807932795025e-06, + "observation_loss": 3.882757027895423e-06, + "chamfer": 3.255472847740748e-06, + "track": 6.272841233112558e-07, + "acceleration": 6.381239927577553e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.693099072028417e-06, + "observation_loss": 3.9551282497996e-06, + "chamfer": 3.310006377432728e-06, + "track": 6.451219292102905e-07, + "acceleration": 7.379705948551418e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.483894372242503e-06, + "observation_loss": 4.103411811229307e-06, + "chamfer": 3.4158440485043684e-06, + "track": 6.875678195683577e-07, + "acceleration": 3.8048273154345225e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.671286660595797e-06, + "observation_loss": 4.389224613987608e-06, + "chamfer": 3.6318760976428166e-06, + "track": 7.573484026579536e-07, + "acceleration": 2.8206190449964197e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.087491445010528e-06, + "observation_loss": 4.731074113806244e-06, + "chamfer": 3.893837856594473e-06, + "track": 8.372360298380954e-07, + "acceleration": 3.5641753015625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.32844387635123e-06, + "observation_loss": 4.837646883970592e-06, + "chamfer": 3.977361757279141e-06, + "track": 8.602851266914513e-07, + "acceleration": 4.907972197543131e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.386352313507814e-06, + "observation_loss": 4.773905402544187e-06, + "chamfer": 3.922279574908316e-06, + "track": 8.516258844792901e-07, + "acceleration": 6.124466835899511e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.124380550114438e-06, + "observation_loss": 4.809791789739393e-06, + "chamfer": 3.957198714488186e-06, + "track": 8.525932457814633e-07, + "acceleration": 3.1458856142307923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.300666543917032e-06, + "observation_loss": 5.080198661744362e-06, + "chamfer": 4.1814300857367925e-06, + "track": 8.987686328509881e-07, + "acceleration": 2.2046793901608908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.5946193242562e-06, + "observation_loss": 5.424684331956087e-06, + "chamfer": 4.4498383431346156e-06, + "track": 9.748458751346334e-07, + "acceleration": 1.6993477913729294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.937540208833525e-06, + "observation_loss": 5.8408800214238e-06, + "chamfer": 4.783232270710869e-06, + "track": 1.0576478643997689e-06, + "acceleration": 9.666009503916939e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.322822628135327e-06, + "observation_loss": 6.128048880782444e-06, + "chamfer": 5.001648332836339e-06, + "track": 1.1264003205724293e-06, + "acceleration": 1.9477356261177192e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.357515303534456e-06, + "observation_loss": 6.160656539577758e-06, + "chamfer": 5.034369678469375e-06, + "track": 1.1262868611083832e-06, + "acceleration": 1.968589913303731e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.300092536548618e-06, + "observation_loss": 6.099895017541712e-06, + "chamfer": 4.985299256077269e-06, + "track": 1.1145956477776053e-06, + "acceleration": 2.001975474286155e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.338465482258471e-06, + "observation_loss": 6.156325071060564e-06, + "chamfer": 5.013608188164653e-06, + "track": 1.1427169965827488e-06, + "acceleration": 1.8214028330021392e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.906323505972978e-06, + "observation_loss": 6.255342668737285e-06, + "chamfer": 5.0877056310127955e-06, + "track": 1.1676370377244893e-06, + "acceleration": 6.509808372356929e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.973092695261585e-06, + "observation_loss": 5.993434569973033e-06, + "chamfer": 4.8945012167678215e-06, + "track": 1.098933580578887e-06, + "acceleration": 9.796581252885517e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.6490265453467146e-06, + "observation_loss": 5.631358362734318e-06, + "chamfer": 4.607743449014379e-06, + "track": 1.0236148000331013e-06, + "acceleration": 1.0176679552387213e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.526639481307939e-06, + "observation_loss": 5.419314675236819e-06, + "chamfer": 4.43561521024094e-06, + "track": 9.836995786827174e-07, + "acceleration": 1.107324578697444e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 7.297844604181591e-06, + "observation_loss": 5.608374067378463e-06, + "chamfer": 4.565060862660175e-06, + "track": 1.043313204718288e-06, + "acceleration": 1.6894703094294528e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.908578481874429e-06, + "observation_loss": 5.786874680779874e-06, + "chamfer": 4.681668997363886e-06, + "track": 1.105205456042313e-06, + "acceleration": 2.121703573720879e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.926686521386728e-06, + "observation_loss": 5.975279691483593e-06, + "chamfer": 4.8204065024037845e-06, + "track": 1.154873189079808e-06, + "acceleration": 1.951406829903135e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.384699983958853e-06, + "observation_loss": 6.096065590099897e-06, + "chamfer": 4.9126333578897174e-06, + "track": 1.183432118523342e-06, + "acceleration": 1.2886343938589562e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.194345926109236e-06, + "observation_loss": 6.163369107525796e-06, + "chamfer": 4.961480499332538e-06, + "track": 1.20188849450642e-06, + "acceleration": 1.0309769322702778e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.580653800687287e-06, + "observation_loss": 6.2784024521533865e-06, + "chamfer": 5.051958851254312e-06, + "track": 1.2264436008990742e-06, + "acceleration": 1.3022512348470627e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.325932983803796e-06, + "observation_loss": 6.720969849993708e-06, + "chamfer": 5.387979854276637e-06, + "track": 1.332989995717071e-06, + "acceleration": 6.049633043403446e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.767078386677895e-06, + "observation_loss": 7.302979611267801e-06, + "chamfer": 5.80274945605197e-06, + "track": 1.5002300415289938e-06, + "acceleration": 4.640985196147085e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.130677088047378e-06, + "observation_loss": 7.65191998652881e-06, + "chamfer": 6.058427516109077e-06, + "track": 1.5934922430460574e-06, + "acceleration": 4.787567604580545e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.300125045934692e-06, + "observation_loss": 7.527066372858826e-06, + "chamfer": 5.9766939557448495e-06, + "track": 1.550372644487652e-06, + "acceleration": 7.730585025456094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 7.954335160320625e-06, + "observation_loss": 7.328584615606815e-06, + "chamfer": 5.838115612277761e-06, + "track": 1.490469230702729e-06, + "acceleration": 6.257508289309044e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.430724053847371e-06, + "observation_loss": 7.149650173232658e-06, + "chamfer": 5.701047484762967e-06, + "track": 1.4486026884696912e-06, + "acceleration": 2.810740511449694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1867366386868525e-06, + "observation_loss": 6.9839552452322096e-06, + "chamfer": 5.576049261435401e-06, + "track": 1.4079059837968089e-06, + "acceleration": 2.0278118029182224e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.156835636124015e-06, + "observation_loss": 6.991959253355162e-06, + "chamfer": 5.5780687944206875e-06, + "track": 1.4138904589344747e-06, + "acceleration": 1.648762548711602e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.194372756202938e-06, + "observation_loss": 7.0503433562407736e-06, + "chamfer": 5.611522738036001e-06, + "track": 1.4388205045179348e-06, + "acceleration": 1.4402938575130975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.215323421405628e-06, + "observation_loss": 7.13451800038456e-06, + "chamfer": 5.6706999203015584e-06, + "track": 1.4638181937698391e-06, + "acceleration": 8.08054991807694e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.420331712637562e-06, + "observation_loss": 7.223457032523584e-06, + "chamfer": 5.723088179365732e-06, + "track": 1.5003689668446896e-06, + "acceleration": 1.968748932767994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.883639227657113e-06, + "observation_loss": 7.3134528975060675e-06, + "chamfer": 5.791765033791307e-06, + "track": 1.5216879774015979e-06, + "acceleration": 5.701862733076268e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.682195584697183e-06, + "observation_loss": 7.472326615243219e-06, + "chamfer": 5.899549250898417e-06, + "track": 1.5727775917184772e-06, + "acceleration": 1.2098688557671267e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.42614769883221e-06, + "observation_loss": 7.644290235475637e-06, + "chamfer": 6.031904831615975e-06, + "track": 1.6123855175464996e-06, + "acceleration": 1.7818573496697354e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.92764910531696e-06, + "observation_loss": 7.841083970561158e-06, + "chamfer": 6.18434251009603e-06, + "track": 1.6567413467782899e-06, + "acceleration": 1.0865655895031523e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.683655323693529e-06, + "observation_loss": 8.22322181193158e-06, + "chamfer": 6.4581572587485425e-06, + "track": 1.7650647805567132e-06, + "acceleration": 4.60433284388273e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.073524779523723e-06, + "observation_loss": 8.756498573347926e-06, + "chamfer": 6.822478098911233e-06, + "track": 1.9340209291840438e-06, + "acceleration": 3.17026490392891e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.491312084719539e-06, + "observation_loss": 9.37257573241368e-06, + "chamfer": 7.242329502332723e-06, + "track": 2.1302462300809566e-06, + "acceleration": 1.1873619598645746e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.818157195695676e-06, + "observation_loss": 9.723214134282898e-06, + "chamfer": 7.481005468434887e-06, + "track": 2.242208665848011e-06, + "acceleration": 9.49427345631193e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0252214451611508e-05, + "observation_loss": 9.958106602425687e-06, + "chamfer": 7.64292690291768e-06, + "track": 2.3151801542553585e-06, + "acceleration": 2.9410819024633383e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0397311598353554e-05, + "observation_loss": 1.0205150829278864e-05, + "chamfer": 7.793003533151932e-06, + "track": 2.412146841379581e-06, + "acceleration": 1.9216035695990286e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.045929457177408e-05, + "observation_loss": 1.0326349183742423e-05, + "chamfer": 7.86614418757381e-06, + "track": 2.460205223542289e-06, + "acceleration": 1.3294555856191437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.056179462466389e-05, + "observation_loss": 1.0178594493481796e-05, + "chamfer": 7.762580025882926e-06, + "track": 2.416014240225195e-06, + "acceleration": 3.8320010276038374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0803059922182001e-05, + "observation_loss": 9.836665412876755e-06, + "chamfer": 7.549310794274788e-06, + "track": 2.287354845975642e-06, + "acceleration": 9.663947366789216e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0238514732918702e-05, + "observation_loss": 9.63884394877823e-06, + "chamfer": 7.408409601339372e-06, + "track": 2.2304345748125343e-06, + "acceleration": 5.996705567667959e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.69984830589965e-06, + "observation_loss": 9.459944521950092e-06, + "chamfer": 7.281184025487164e-06, + "track": 2.178760496462928e-06, + "acceleration": 2.3990421027519915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.426928045286331e-06, + "observation_loss": 9.189096999762114e-06, + "chamfer": 7.0813966885907575e-06, + "track": 2.107700083797681e-06, + "acceleration": 2.378308607831059e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.151874110102654e-06, + "observation_loss": 8.93867400009185e-06, + "chamfer": 6.902078439452453e-06, + "track": 2.0365957880130736e-06, + "acceleration": 2.132005363364442e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.925044651026838e-06, + "observation_loss": 9.078664334083442e-06, + "chamfer": 6.993058832449606e-06, + "track": 2.0856057290075114e-06, + "acceleration": 8.463803737868147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2217211406095885e-05, + "observation_loss": 9.240015970135573e-06, + "chamfer": 7.072857897583162e-06, + "track": 2.1671578451787354e-06, + "acceleration": 2.9771954359603114e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.237805736309383e-05, + "observation_loss": 9.264198524761014e-06, + "chamfer": 7.11012035026215e-06, + "track": 2.154078401872539e-06, + "acceleration": 3.113858838332817e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0910160199273378e-05, + "observation_loss": 9.232384400092997e-06, + "chamfer": 7.064367764542112e-06, + "track": 2.1680166355508845e-06, + "acceleration": 1.677775799180381e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.072573650162667e-05, + "observation_loss": 9.2372592916945e-06, + "chamfer": 7.056792583171045e-06, + "track": 2.1804662537761033e-06, + "acceleration": 1.4884773236190085e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0146676686417777e-05, + "observation_loss": 9.35181560635101e-06, + "chamfer": 7.131875008781208e-06, + "track": 2.2199405975698028e-06, + "acceleration": 7.948607958496723e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.874700481304899e-06, + "observation_loss": 9.491132004768588e-06, + "chamfer": 7.200840173027245e-06, + "track": 2.2902918317413423e-06, + "acceleration": 3.835682775843452e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.785007932805456e-06, + "observation_loss": 9.68604854278965e-06, + "chamfer": 7.32805392544833e-06, + "track": 2.3579948447149945e-06, + "acceleration": 9.895898500644762e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0043810107163154e-05, + "observation_loss": 9.953099834092427e-06, + "chamfer": 7.513235232181614e-06, + "track": 2.4398646019108128e-06, + "acceleration": 9.071006701333317e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0275750355503988e-05, + "observation_loss": 1.0163569641008507e-05, + "chamfer": 7.657657988602296e-06, + "track": 2.505911652406212e-06, + "acceleration": 1.1218043027838576e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.034936576616019e-05, + "observation_loss": 1.0247148566122632e-05, + "chamfer": 7.704196832492016e-06, + "track": 2.5429519610042917e-06, + "acceleration": 1.0221752688721608e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0473557267687283e-05, + "observation_loss": 1.031128158501815e-05, + "chamfer": 7.743564310658257e-06, + "track": 2.567717729107244e-06, + "acceleration": 1.6227556898229523e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0542246855038684e-05, + "observation_loss": 1.0380355888628401e-05, + "chamfer": 7.778246072120965e-06, + "track": 2.6021100438811118e-06, + "acceleration": 1.6189132168165088e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.047771092999028e-05, + "observation_loss": 1.0400753126305062e-05, + "chamfer": 7.784386980347335e-06, + "track": 2.6163659185840515e-06, + "acceleration": 7.695794579376525e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.060746672010282e-05, + "observation_loss": 1.0387845577497501e-05, + "chamfer": 7.775515769026242e-06, + "track": 2.612330035844934e-06, + "acceleration": 2.1962119944873848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0557002497080248e-05, + "observation_loss": 1.0441686754347757e-05, + "chamfer": 7.8048369687167e-06, + "track": 2.6368500130047323e-06, + "acceleration": 1.1531549404253383e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0620690773066599e-05, + "observation_loss": 1.0512057087908033e-05, + "chamfer": 7.835856195015367e-06, + "track": 2.6762011202663416e-06, + "acceleration": 1.0863343646860812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0658435712684877e-05, + "observation_loss": 1.0575778105703648e-05, + "chamfer": 7.87636327004293e-06, + "track": 2.699414608287043e-06, + "acceleration": 8.265769935178469e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0733510862337425e-05, + "observation_loss": 1.0656620361260138e-05, + "chamfer": 7.924000783532392e-06, + "track": 2.7326191229803953e-06, + "acceleration": 7.689018133305581e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0727655535447411e-05, + "observation_loss": 1.0614892744342797e-05, + "chamfer": 7.901135177235119e-06, + "track": 2.713757794481353e-06, + "acceleration": 1.1276268452320437e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0573967301752418e-05, + "observation_loss": 1.0477585419721436e-05, + "chamfer": 7.81538437877316e-06, + "track": 2.662201268321951e-06, + "acceleration": 9.638147702162314e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.201260660219608e-06, + "chamfer_mean": 5.511322854090395e-06, + "track_mean": 1.4838236139051257e-06, + "acceleration_mean": 1.2061142016979904e-06, + "observation_score": 6.995146433060502e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4429044980006438 + }, + "score_arrays_file": "pass_scores/pass_end_0364.npz", + "score_arrays_sha256": "b6fb28ba6ac14cf285dc0f6f9bd347fd78a8e9810d78955b6e370178bb175a51" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0365.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0365.json new file mode 100644 index 0000000000000000000000000000000000000000..25e4f4f5f8fb3980fac9f5f9dfb66f2489eee531 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0365.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35040, + "completed_passes": 365, + "snapshot": "pass_end_0365", + "candidate": true, + "snapshot_arrays_sha256": "3736be13704056f3ff8f79932c258261ab291547ac76170860b2a17d5c482295", + "score": 6.988916046187417e-06, + "score_result": { + "score": 6.988916046187417e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.882150511140935e-06, + 3.1489773846260505e-06, + 3.20531125908019e-06, + 3.6380918118084082e-06, + 4.157124294579262e-06, + 4.396571057441179e-06, + 4.156908744334942e-06, + 3.9766941881680395e-06, + 3.901344825862907e-06, + 3.974982064391952e-06, + 4.340063696872676e-06, + 4.771947715198621e-06, + 5.062515356257791e-06, + 5.248597517493181e-06, + 5.2370278353919275e-06, + 5.128577413415769e-06, + 4.780094059242401e-06, + 4.39143650510232e-06, + 4.2388505789858755e-06, + 4.241594524501124e-06, + 4.184509180049645e-06, + 3.992100118921371e-06, + 3.877934432239272e-06, + 3.952134193241363e-06, + 4.103198989469092e-06, + 4.390784852148499e-06, + 4.730151431431295e-06, + 4.8336496547563e-06, + 4.770563009515172e-06, + 4.808797712030355e-06, + 5.0798194024537224e-06, + 5.42764610145241e-06, + 5.846054591529537e-06, + 6.134549948910717e-06, + 6.1646715039387345e-06, + 6.1029495554976165e-06, + 6.1566370277432725e-06, + 6.2505096138920635e-06, + 5.988362318021245e-06, + 5.624368441203842e-06, + 5.4114552767714486e-06, + 5.60307307750918e-06, + 5.780652827525046e-06, + 5.975747626507655e-06, + 6.095875505707227e-06, + 6.160345037642401e-06, + 6.277141892496729e-06, + 6.717219548590947e-06, + 7.290711891982937e-06, + 7.635963811480906e-06, + 7.517919584643096e-06, + 7.317755716940155e-06, + 7.13314329914283e-06, + 6.9742386585858185e-06, + 6.987290817050962e-06, + 7.045626716717379e-06, + 7.130341145966668e-06, + 7.220719453471247e-06, + 7.310397904802812e-06, + 7.4693680289783515e-06, + 7.64186552260071e-06, + 7.837994417059235e-06, + 8.21973844722379e-06, + 8.753242582315579e-06, + 9.369296094519086e-06, + 9.721008609631099e-06, + 9.956464054994285e-06, + 1.0203834790445399e-05, + 1.0324500181013718e-05, + 1.0173624104936607e-05, + 9.828669135458767e-06, + 9.629389751353301e-06, + 9.449464414501563e-06, + 9.178053915093187e-06, + 8.927636372391135e-06, + 9.068300641956739e-06, + 9.226490874425508e-06, + 9.24796040635556e-06, + 9.21543141885195e-06, + 9.221092113875784e-06, + 9.33593310037395e-06, + 9.476532795815729e-06, + 9.672545274952427e-06, + 9.938283255905844e-06, + 1.0148168257728685e-05, + 1.0232550266664475e-05, + 1.0295867468812503e-05, + 1.036440698953811e-05, + 1.0384831512055825e-05, + 1.0371505595685448e-05, + 1.0423745152365882e-05, + 1.0493872650840785e-05, + 1.0557733730820473e-05, + 1.0638193998602219e-05, + 1.0595963431114797e-05, + 1.0458507858857047e-05 + ] + ], + "episode_mean_losses": [ + 6.988916046187417e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.882150511140935e-06, + "observation_loss": 2.882150511140935e-06, + "chamfer": 2.4441078494419344e-06, + "track": 4.3804277538583847e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.183788041700609e-05, + "observation_loss": 3.1489773846260505e-06, + "chamfer": 2.663037548700231e-06, + "track": 4.859398359258194e-07, + "acceleration": 3.868890416924842e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3040323867462575e-05, + "observation_loss": 3.20531125908019e-06, + "chamfer": 2.71482076641405e-06, + "track": 4.904905495095591e-07, + "acceleration": 1.9835011698887683e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0073616067529656e-05, + "observation_loss": 3.6380918118084082e-06, + "chamfer": 3.0687713206134504e-06, + "track": 5.69320434351539e-07, + "acceleration": 6.435524483094923e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.693855655408697e-06, + "observation_loss": 4.157124294579262e-06, + "chamfer": 3.4871629850385943e-06, + "track": 6.699611958538298e-07, + "acceleration": 1.536731474516273e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.487087037181482e-06, + "observation_loss": 4.396571057441179e-06, + "chamfer": 3.6780963910132414e-06, + "track": 7.184745527410996e-07, + "acceleration": 1.0905158660534653e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.745638761960436e-06, + "observation_loss": 4.156908744334942e-06, + "chamfer": 3.481675321381772e-06, + "track": 6.752334797965887e-07, + "acceleration": 5.887299607820751e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.604044988809619e-06, + "observation_loss": 3.9766941881680395e-06, + "chamfer": 3.3363530747010373e-06, + "track": 6.403409997801646e-07, + "acceleration": 6.27350630111323e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.381980033940636e-06, + "observation_loss": 3.901344825862907e-06, + "chamfer": 3.27821726386901e-06, + "track": 6.231276756807347e-07, + "acceleration": 4.806353786079853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.27657823820482e-06, + "observation_loss": 3.974982064391952e-06, + "chamfer": 3.3393750982213533e-06, + "track": 6.356069093271799e-07, + "acceleration": 3.015961169694492e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.486352736421395e-06, + "observation_loss": 4.340063696872676e-06, + "chamfer": 3.638044972831267e-06, + "track": 7.0201866719799e-07, + "acceleration": 1.462889400727363e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.864931270276429e-06, + "observation_loss": 4.771947715198621e-06, + "chamfer": 3.985450803156709e-06, + "track": 7.864971394155873e-07, + "acceleration": 9.298334902041461e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.166457412997261e-06, + "observation_loss": 5.062515356257791e-06, + "chamfer": 4.225069915264612e-06, + "track": 8.374452704629221e-07, + "acceleration": 1.0394185778750398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.355526809580624e-06, + "observation_loss": 5.248597517493181e-06, + "chamfer": 4.384116891742451e-06, + "track": 8.644804552204732e-07, + "acceleration": 1.0692931340372525e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.298781161400257e-06, + "observation_loss": 5.2370278353919275e-06, + "chamfer": 4.378414814709686e-06, + "track": 8.586128501519852e-07, + "acceleration": 6.175324074320088e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.2533332564053126e-06, + "observation_loss": 5.128577413415769e-06, + "chamfer": 4.289691787562333e-06, + "track": 8.388855121665983e-07, + "acceleration": 1.2475589983296231e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.982641257811338e-06, + "observation_loss": 4.780094059242401e-06, + "chamfer": 4.0032855395111255e-06, + "track": 7.768086902615323e-07, + "acceleration": 2.0254719856893644e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.737026301881997e-06, + "observation_loss": 4.39143650510232e-06, + "chamfer": 3.6811265999858733e-06, + "track": 7.103099051164463e-07, + "acceleration": 3.4558988204480556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.429580258147325e-06, + "observation_loss": 4.2388505789858755e-06, + "chamfer": 3.5505333926266758e-06, + "track": 6.883173568894563e-07, + "acceleration": 1.9072952284204803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.360470029496355e-06, + "observation_loss": 4.241594524501124e-06, + "chamfer": 3.5485634271026356e-06, + "track": 6.930312110853265e-07, + "acceleration": 1.1887556183864945e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.493541382544208e-06, + "observation_loss": 4.184509180049645e-06, + "chamfer": 3.5000825846509542e-06, + "track": 6.844266522421094e-07, + "acceleration": 3.0903220249456353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.385226475278614e-06, + "observation_loss": 3.992100118921371e-06, + "chamfer": 3.3423766581108794e-06, + "track": 6.497232902802352e-07, + "acceleration": 3.9312649846579006e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.509995960688684e-06, + "observation_loss": 3.877934432239272e-06, + "chamfer": 3.2513589758309536e-06, + "track": 6.265756837819936e-07, + "acceleration": 6.320613579191559e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.6776049202890135e-06, + "observation_loss": 3.952134193241363e-06, + "chamfer": 3.307393171780859e-06, + "track": 6.44741135147342e-07, + "acceleration": 7.254704996739747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.479927156353369e-06, + "observation_loss": 4.103198989469092e-06, + "chamfer": 3.4155311823269585e-06, + "track": 6.876675797684584e-07, + "acceleration": 3.7672802477572986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.6724580897716805e-06, + "observation_loss": 4.390784852148499e-06, + "chamfer": 3.632945436038426e-06, + "track": 7.578394729534921e-07, + "acceleration": 2.816733228883095e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.088070793135557e-06, + "observation_loss": 4.730151431431295e-06, + "chamfer": 3.8930952541704755e-06, + "track": 8.370562909476575e-07, + "acceleration": 3.5791941854768083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.332766249921406e-06, + "observation_loss": 4.8336496547563e-06, + "chamfer": 3.974379978899378e-06, + "track": 8.592697895437595e-07, + "acceleration": 4.991165951651055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.378169134928612e-06, + "observation_loss": 4.770563009515172e-06, + "chamfer": 3.919627488357946e-06, + "track": 8.509356916874822e-07, + "acceleration": 6.07606182256859e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.113256975164404e-06, + "observation_loss": 4.808797712030355e-06, + "chamfer": 3.95614415538148e-06, + "track": 8.526536134922935e-07, + "acceleration": 3.044593199774681e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.290849912853446e-06, + "observation_loss": 5.0798194024537224e-06, + "chamfer": 4.1808534660958685e-06, + "track": 8.989661068881105e-07, + "acceleration": 2.1103072356254415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.588597105088411e-06, + "observation_loss": 5.42764610145241e-06, + "chamfer": 4.451872882782482e-06, + "track": 9.75773446043604e-07, + "acceleration": 1.609512167988214e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.939239599683788e-06, + "observation_loss": 5.846054591529537e-06, + "chamfer": 4.786816589330556e-06, + "track": 1.0592380021989811e-06, + "acceleration": 9.31848376239941e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.325914455374004e-06, + "observation_loss": 6.134549948910717e-06, + "chamfer": 5.00628084409982e-06, + "track": 1.1282693321845727e-06, + "acceleration": 1.9136433593303082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.364470209518913e-06, + "observation_loss": 6.1646715039387345e-06, + "chamfer": 5.037036771682324e-06, + "track": 1.127634618569573e-06, + "acceleration": 1.9979877663445222e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.300564564298838e-06, + "observation_loss": 6.1029495554976165e-06, + "chamfer": 4.9878412937687244e-06, + "track": 1.1151084891025675e-06, + "acceleration": 1.976148809035294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.305914666882018e-06, + "observation_loss": 6.1566370277432725e-06, + "chamfer": 5.014178441342665e-06, + "track": 1.142458813774283e-06, + "acceleration": 1.4927744018677913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.823044259363087e-06, + "observation_loss": 6.2505096138920635e-06, + "chamfer": 5.084622443973785e-06, + "track": 1.1658870562314405e-06, + "acceleration": 5.7253481600128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.879625289002433e-06, + "observation_loss": 5.988362318021245e-06, + "chamfer": 4.891121534456033e-06, + "track": 1.0972408972520498e-06, + "acceleration": 8.912627436075127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.581912657566136e-06, + "observation_loss": 5.624368441203842e-06, + "chamfer": 4.602998615155229e-06, + "track": 1.0213698260486126e-06, + "acceleration": 9.575442163622938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.382453648257069e-06, + "observation_loss": 5.4114552767714486e-06, + "chamfer": 4.42974169345689e-06, + "track": 9.81713355940883e-07, + "acceleration": 9.709981441119453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.9710786192445084e-06, + "observation_loss": 5.60307307750918e-06, + "chamfer": 4.5607016545545775e-06, + "track": 1.0423714229546022e-06, + "acceleration": 1.3680053143616533e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.608151918248041e-06, + "observation_loss": 5.780652827525046e-06, + "chamfer": 4.6767318053753115e-06, + "track": 1.1039210221497342e-06, + "acceleration": 1.8274990907229949e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.947622179926839e-06, + "observation_loss": 5.975747626507655e-06, + "chamfer": 4.8205424718617e-06, + "track": 1.1552049272722797e-06, + "acceleration": 1.971874553419184e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.622626981174108e-06, + "observation_loss": 6.095875505707227e-06, + "chamfer": 4.912313670502044e-06, + "track": 1.1835617215183447e-06, + "acceleration": 1.5267517028405564e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.03739897289779e-06, + "observation_loss": 6.160345037642401e-06, + "chamfer": 4.9592790674068965e-06, + "track": 1.2010661976091797e-06, + "acceleration": 8.770537078817142e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.599039690830978e-06, + "observation_loss": 6.277141892496729e-06, + "chamfer": 5.050885192758869e-06, + "track": 1.2262566997378599e-06, + "acceleration": 1.3218977983342484e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.3347573561477475e-06, + "observation_loss": 6.717219548590947e-06, + "chamfer": 5.385187250794843e-06, + "track": 1.332032297796104e-06, + "acceleration": 6.175377507133817e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.896544957475271e-06, + "observation_loss": 7.290711891982937e-06, + "chamfer": 5.793879608972929e-06, + "track": 1.4968322830100078e-06, + "acceleration": 6.05833406552847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.284607247333042e-06, + "observation_loss": 7.635963811480906e-06, + "chamfer": 6.046961516403826e-06, + "track": 1.5890025224507554e-06, + "acceleration": 6.486432653218799e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.365547728317324e-06, + "observation_loss": 7.517919584643096e-06, + "chamfer": 5.970082384010311e-06, + "track": 1.54783742800646e-06, + "acceleration": 8.476284847347415e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.199127478292212e-06, + "observation_loss": 7.317755716940155e-06, + "chamfer": 5.8295786402595695e-06, + "track": 1.488176962993748e-06, + "acceleration": 8.813715339783812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.450772045558551e-06, + "observation_loss": 7.13314329914283e-06, + "chamfer": 5.688416422344744e-06, + "track": 1.4447271041717613e-06, + "acceleration": 3.176287748374307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.189647931227228e-06, + "observation_loss": 6.9742386585858185e-06, + "chamfer": 5.56842087462428e-06, + "track": 1.4058177839615382e-06, + "acceleration": 2.1540940053910163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.14270026946906e-06, + "observation_loss": 6.987290817050962e-06, + "chamfer": 5.573946509684902e-06, + "track": 1.4133444210528978e-06, + "acceleration": 1.5540946662895294e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.19963190931594e-06, + "observation_loss": 7.045626716717379e-06, + "chamfer": 5.607588263956131e-06, + "track": 1.4380385664480855e-06, + "acceleration": 1.5400500785744953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.211470347101567e-06, + "observation_loss": 7.130341145966668e-06, + "chamfer": 5.6672388382139616e-06, + "track": 1.4631025351263816e-06, + "acceleration": 8.112942140314772e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.42086422178545e-06, + "observation_loss": 7.220719453471247e-06, + "chamfer": 5.720921762986109e-06, + "track": 1.4997975767983007e-06, + "acceleration": 2.0014473989249382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.882072168285958e-06, + "observation_loss": 7.310397904802812e-06, + "chamfer": 5.789343504147837e-06, + "track": 1.5210544006549753e-06, + "acceleration": 5.71673922422633e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.682176485308446e-06, + "observation_loss": 7.4693680289783515e-06, + "chamfer": 5.89719593335758e-06, + "track": 1.5721723229944473e-06, + "acceleration": 1.2128084563300945e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.419860361958854e-06, + "observation_loss": 7.64186552260071e-06, + "chamfer": 6.029931682860479e-06, + "track": 1.611934067113907e-06, + "acceleration": 1.7779944982976303e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.922913366404828e-06, + "observation_loss": 7.837994417059235e-06, + "chamfer": 6.181743174238363e-06, + "track": 1.6562511291340343e-06, + "acceleration": 1.0849191767192679e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.681817234901246e-06, + "observation_loss": 8.21973844722379e-06, + "chamfer": 6.455242782976711e-06, + "track": 1.764496005307592e-06, + "acceleration": 4.620785887254897e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.071325621334836e-06, + "observation_loss": 8.753242582315579e-06, + "chamfer": 6.8198137341823895e-06, + "track": 1.9334293028805405e-06, + "acceleration": 3.1808258427190594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.48736305872444e-06, + "observation_loss": 9.369296094519086e-06, + "chamfer": 7.2395869210595265e-06, + "track": 2.1297096282069106e-06, + "acceleration": 1.1806686472937145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.815216799324844e-06, + "observation_loss": 9.721008609631099e-06, + "chamfer": 7.479013675038004e-06, + "track": 2.241994707219419e-06, + "acceleration": 9.420857338682254e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0248684702673927e-05, + "observation_loss": 9.956464054994285e-06, + "chamfer": 7.64137803344056e-06, + "track": 2.3150862489274004e-06, + "acceleration": 2.922206192579324e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0395228855486494e-05, + "observation_loss": 1.0203834790445399e-05, + "chamfer": 7.791678399371449e-06, + "track": 2.412156618447625e-06, + "acceleration": 1.9139406504109502e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0458534234203398e-05, + "observation_loss": 1.0324500181013718e-05, + "chamfer": 7.864471626817249e-06, + "track": 2.4600285541964695e-06, + "acceleration": 1.3403447951532144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0560715054452885e-05, + "observation_loss": 1.0173624104936607e-05, + "chamfer": 7.758754691167269e-06, + "track": 2.4148694137693383e-06, + "acceleration": 3.8709094951627776e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0806249520101119e-05, + "observation_loss": 9.828669135458767e-06, + "chamfer": 7.543387710029492e-06, + "track": 2.285281880176626e-06, + "acceleration": 9.77580157268676e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0234617548121605e-05, + "observation_loss": 9.629389751353301e-06, + "chamfer": 7.401456059596967e-06, + "track": 2.2279334643826587e-06, + "acceleration": 6.052277399248851e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.691490049590357e-06, + "observation_loss": 9.449464414501563e-06, + "chamfer": 7.273397386597935e-06, + "track": 2.176066800529952e-06, + "acceleration": 2.420255214019562e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.41782218433218e-06, + "observation_loss": 9.178053915093187e-06, + "chamfer": 7.073348569974769e-06, + "track": 2.1047055724920938e-06, + "acceleration": 2.3976801344360865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.132034392678179e-06, + "observation_loss": 8.927636372391135e-06, + "chamfer": 6.893875251989812e-06, + "track": 2.0337608930276474e-06, + "acceleration": 2.0439796344362549e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.83687277766876e-06, + "observation_loss": 9.068300641956739e-06, + "chamfer": 6.986281277931994e-06, + "track": 2.0820189092773944e-06, + "acceleration": 7.685719083383447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2281774615985341e-05, + "observation_loss": 9.226490874425508e-06, + "chamfer": 7.062819804559695e-06, + "track": 2.1636715246131644e-06, + "acceleration": 3.0552832868124824e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.242435428139288e-05, + "observation_loss": 9.24796040635556e-06, + "chamfer": 7.098205060174223e-06, + "track": 2.149755346181337e-06, + "acceleration": 3.1763941024109954e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0907619071076624e-05, + "observation_loss": 9.21543141885195e-06, + "chamfer": 7.052504315652186e-06, + "track": 2.1629268758260878e-06, + "acceleration": 1.6921877659115125e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0738628589024302e-05, + "observation_loss": 9.221092113875784e-06, + "chamfer": 7.04505782778142e-06, + "track": 2.1760345134680392e-06, + "acceleration": 1.51753636146168e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0121498235093895e-05, + "observation_loss": 9.33593310037395e-06, + "chamfer": 7.120644113456365e-06, + "track": 2.215288986917585e-06, + "acceleration": 7.855650210331078e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.848447916738223e-06, + "observation_loss": 9.476532795815729e-06, + "chamfer": 7.1909303187567275e-06, + "track": 2.285602931806352e-06, + "acceleration": 3.719150640790758e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.770135875442065e-06, + "observation_loss": 9.672545274952427e-06, + "chamfer": 7.319155429286184e-06, + "track": 2.3533896182925673e-06, + "acceleration": 9.759045127566424e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0031804777099751e-05, + "observation_loss": 9.938283255905844e-06, + "chamfer": 7.503308097511763e-06, + "track": 2.434975385767757e-06, + "acceleration": 9.352139329621423e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0259734153805766e-05, + "observation_loss": 1.0148168257728685e-05, + "chamfer": 7.647381607966963e-06, + "track": 2.500786422388046e-06, + "acceleration": 1.1156592449879099e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0333405953133479e-05, + "observation_loss": 1.0232550266664475e-05, + "chamfer": 7.694659871049225e-06, + "track": 2.537889940867899e-06, + "acceleration": 1.0085540225190925e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0459133591211867e-05, + "observation_loss": 1.0295867468812503e-05, + "chamfer": 7.733421625744086e-06, + "track": 2.5624460704420926e-06, + "acceleration": 1.632660513450901e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0528252460062504e-05, + "observation_loss": 1.036440698953811e-05, + "chamfer": 7.767617717036046e-06, + "track": 2.5967892725020647e-06, + "acceleration": 1.6384568368721375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.046152556227753e-05, + "observation_loss": 1.0384831512055825e-05, + "chamfer": 7.774022378725931e-06, + "track": 2.610808905956219e-06, + "acceleration": 7.66939081131568e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0588540135358926e-05, + "observation_loss": 1.0371505595685448e-05, + "chamfer": 7.764845577185042e-06, + "track": 2.6066600185004063e-06, + "acceleration": 2.1703482389057172e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0538333299336955e-05, + "observation_loss": 1.0423745152365882e-05, + "chamfer": 7.793189979565796e-06, + "track": 2.630554945426411e-06, + "acceleration": 1.1458813276021829e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0603253031149507e-05, + "observation_loss": 1.0493872650840785e-05, + "chamfer": 7.824085514585022e-06, + "track": 2.669786908882088e-06, + "acceleration": 1.0938028083273821e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0640271284501068e-05, + "observation_loss": 1.0557733730820473e-05, + "chamfer": 7.864787221478764e-06, + "track": 2.692946281968034e-06, + "acceleration": 8.2537354728629e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0714824384194799e-05, + "observation_loss": 1.0638193998602219e-05, + "chamfer": 7.912217370176222e-06, + "track": 2.7259770831733476e-06, + "acceleration": 7.663047796313549e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0708913578127977e-05, + "observation_loss": 1.0595963431114797e-05, + "chamfer": 7.888910658948589e-06, + "track": 2.707052999539883e-06, + "acceleration": 1.1295058044424877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0554684195085429e-05, + "observation_loss": 1.0458507858857047e-05, + "chamfer": 7.803071639500558e-06, + "track": 2.6554362193564884e-06, + "acceleration": 9.617628649039034e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.193891446239832e-06, + "chamfer_mean": 5.5068294552521975e-06, + "track_mean": 1.482086627646595e-06, + "acceleration_mean": 1.2049753745172846e-06, + "observation_score": 6.988916046187417e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4158947270007047 + }, + "score_arrays_file": "pass_scores/pass_end_0365.npz", + "score_arrays_sha256": "3d47e85c0d02d362f90dcb029b4710e2555c8eee57825c74732e4023e17058f0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0366.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0366.json new file mode 100644 index 0000000000000000000000000000000000000000..5a5f5cebb4127cef768798200640e2f97ff37b2a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0366.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35136, + "completed_passes": 366, + "snapshot": "pass_end_0366", + "candidate": true, + "snapshot_arrays_sha256": "4926b64e1fbb5e625740a0d8d355277164d61eca1bd64af096762603c5c21d1a", + "score": 6.983799271627807e-06, + "score_result": { + "score": 6.983799271627807e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8824842956964858e-06, + 3.1487968499277486e-06, + 3.204381528121303e-06, + 3.637061581684975e-06, + 4.1556641008355655e-06, + 4.3953182284894865e-06, + 4.156105205765925e-06, + 3.975475010520313e-06, + 3.8996440707705915e-06, + 3.973095772380475e-06, + 4.3376894609536976e-06, + 4.768485268868972e-06, + 5.058588158135535e-06, + 5.244216481514741e-06, + 5.232102012087125e-06, + 5.12388896822813e-06, + 4.775436991621973e-06, + 4.386804903333541e-06, + 4.2349975046818145e-06, + 4.23746769229183e-06, + 4.179490133537911e-06, + 3.985495823144447e-06, + 3.872597062581917e-06, + 3.950058271584567e-06, + 4.104817435290897e-06, + 4.394552433950594e-06, + 4.731988155981526e-06, + 4.832225386053324e-06, + 4.7692428779555485e-06, + 4.80921062262496e-06, + 5.080871233076323e-06, + 5.431095814856235e-06, + 5.851045443705516e-06, + 6.140277946542483e-06, + 6.16834222455509e-06, + 6.105578449933091e-06, + 6.157591087685432e-06, + 6.247550572879845e-06, + 5.985186362522654e-06, + 5.618923751171678e-06, + 5.405227966548409e-06, + 5.598457846645033e-06, + 5.774945748271421e-06, + 5.975869498797692e-06, + 6.09410744800698e-06, + 6.156285962788388e-06, + 6.275565283431206e-06, + 6.712254162266618e-06, + 7.276319138327381e-06, + 7.618627478223061e-06, + 7.508012458856683e-06, + 7.303843631234486e-06, + 7.116851065802621e-06, + 6.965284228499513e-06, + 6.9811476350878365e-06, + 7.039688171062153e-06, + 7.126230229914654e-06, + 7.216277936095139e-06, + 7.306514817173593e-06, + 7.465758699254366e-06, + 7.63918251323048e-06, + 7.835274118406232e-06, + 8.216264177463017e-06, + 8.749511835048907e-06, + 9.365416190121323e-06, + 9.717401553643867e-06, + 9.953711014532018e-06, + 1.0201654731645249e-05, + 1.0321413355995901e-05, + 1.0167921573156491e-05, + 9.820514605962671e-06, + 9.619814591133036e-06, + 9.438986126042437e-06, + 9.16779026738368e-06, + 8.918686944525689e-06, + 9.061777745955624e-06, + 9.219452294928487e-06, + 9.239566679752897e-06, + 9.205356036545709e-06, + 9.211224096361548e-06, + 9.325471182819456e-06, + 9.466672054259107e-06, + 9.662802767707035e-06, + 9.92787772702286e-06, + 1.0137682693311945e-05, + 1.0222422133665532e-05, + 1.0285121788911056e-05, + 1.0354230653319973e-05, + 1.0374504199717194e-05, + 1.0360715350543614e-05, + 1.0412157280370593e-05, + 1.0482088327989914e-05, + 1.0545818440732546e-05, + 1.0625923096085899e-05, + 1.0583360563032329e-05, + 1.0445846783113666e-05 + ] + ], + "episode_mean_losses": [ + 6.983799271627807e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8824842956964858e-06, + "observation_loss": 2.8824842956964858e-06, + "chamfer": 2.4443731945211766e-06, + "track": 4.3811110117530916e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.185216312180273e-05, + "observation_loss": 3.1487968499277486e-06, + "chamfer": 2.6628854357113596e-06, + "track": 4.859113573729701e-07, + "acceleration": 3.8703365135006607e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3046983187668957e-05, + "observation_loss": 3.204381528121303e-06, + "chamfer": 2.7140438305650605e-06, + "track": 4.903376975562423e-07, + "acceleration": 1.984260234166868e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0077857950818725e-05, + "observation_loss": 3.637061581684975e-06, + "chamfer": 3.0679157134727575e-06, + "track": 5.691459250556363e-07, + "acceleration": 6.440795914386399e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.696917469322216e-06, + "observation_loss": 4.1556641008355655e-06, + "chamfer": 3.4859635889006313e-06, + "track": 6.697006824651908e-07, + "acceleration": 1.5412532547998126e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.487390808411874e-06, + "observation_loss": 4.3953182284894865e-06, + "chamfer": 3.677075255836826e-06, + "track": 7.182429726526607e-07, + "acceleration": 1.0920728072960628e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.743587851407938e-06, + "observation_loss": 4.156105205765925e-06, + "chamfer": 3.480994109850144e-06, + "track": 6.751110390723625e-07, + "acceleration": 5.874826456420124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.602490207616938e-06, + "observation_loss": 3.975475010520313e-06, + "chamfer": 3.3353194339724723e-06, + "track": 6.401554628610029e-07, + "acceleration": 6.270151402532065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.379342044558143e-06, + "observation_loss": 3.8996440707705915e-06, + "chamfer": 3.2767782158771297e-06, + "track": 6.228657412066241e-07, + "acceleration": 4.796980874743895e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.274348157196073e-06, + "observation_loss": 3.973095772380475e-06, + "chamfer": 3.3377930321876192e-06, + "track": 6.353025128191803e-07, + "acceleration": 3.0125241323730734e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.483734755922342e-06, + "observation_loss": 4.3376894609536976e-06, + "chamfer": 3.6360929698275868e-06, + "track": 7.015965479695296e-07, + "acceleration": 1.4604538023377245e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.861140041612089e-06, + "observation_loss": 4.768485268868972e-06, + "chamfer": 3.98263500756002e-06, + "track": 7.858501476221136e-07, + "acceleration": 9.265468747798877e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.16243517267867e-06, + "observation_loss": 5.058588158135535e-06, + "chamfer": 4.2218880480504595e-06, + "track": 8.367002237719134e-07, + "acceleration": 1.0384703585941679e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.350978426577058e-06, + "observation_loss": 5.244216481514741e-06, + "chamfer": 4.380559403216466e-06, + "track": 8.636573056719499e-07, + "acceleration": 1.0676206585458203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.293800313665997e-06, + "observation_loss": 5.232102012087125e-06, + "chamfer": 4.374392574391095e-06, + "track": 8.577094376960304e-07, + "acceleration": 6.169845079284642e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.248449269856792e-06, + "observation_loss": 5.12388896822813e-06, + "chamfer": 4.285867362341378e-06, + "track": 8.380216058867518e-07, + "acceleration": 1.2456034426122642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.977637217962183e-06, + "observation_loss": 4.775436991621973e-06, + "chamfer": 3.999466571258381e-06, + "track": 7.759704772070108e-07, + "acceleration": 2.0220004159909877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.732727575174067e-06, + "observation_loss": 4.386804903333541e-06, + "chamfer": 3.6772817111341283e-06, + "track": 7.09523078512575e-07, + "acceleration": 3.4592258657539787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.4259268179303035e-06, + "observation_loss": 4.2349975046818145e-06, + "chamfer": 3.5473178741085576e-06, + "track": 6.876798011035135e-07, + "acceleration": 1.9092921377250605e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.355105829745298e-06, + "observation_loss": 4.23746769229183e-06, + "chamfer": 3.545125991877285e-06, + "track": 6.923415298842883e-07, + "acceleration": 1.1763823692945152e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.489060302148573e-06, + "observation_loss": 4.179490133537911e-06, + "chamfer": 3.495905275485711e-06, + "track": 6.835849717390374e-07, + "acceleration": 3.0957028229749994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.380904101708438e-06, + "observation_loss": 3.985495823144447e-06, + "chamfer": 3.3368369258823805e-06, + "track": 6.48659124635742e-07, + "acceleration": 3.9540850593766663e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.507894573180238e-06, + "observation_loss": 3.872597062581917e-06, + "chamfer": 3.2468369681737386e-06, + "track": 6.257602649384353e-07, + "acceleration": 6.352976242851582e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.669926511269296e-06, + "observation_loss": 3.950058271584567e-06, + "chamfer": 3.3055516723834444e-06, + "track": 6.445065992011223e-07, + "acceleration": 7.198684102149855e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.48075843451079e-06, + "observation_loss": 4.104817435290897e-06, + "chamfer": 3.416743084017071e-06, + "track": 6.880741807435697e-07, + "acceleration": 3.7594119817185856e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.677011929743458e-06, + "observation_loss": 4.394552433950594e-06, + "chamfer": 3.6358328543428797e-06, + "track": 7.587194090774574e-07, + "acceleration": 2.8245935368431674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.0903372539323755e-06, + "observation_loss": 4.731988155981526e-06, + "chamfer": 3.8945772757870145e-06, + "track": 8.374109370379301e-07, + "acceleration": 3.5834918321597797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.3372609727375675e-06, + "observation_loss": 4.832225386053324e-06, + "chamfer": 3.973420461989008e-06, + "track": 8.588048103774781e-07, + "acceleration": 5.05035472997406e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.371144197852118e-06, + "observation_loss": 4.7692428779555485e-06, + "chamfer": 3.918590664397925e-06, + "track": 8.506522704010422e-07, + "acceleration": 6.019014904268261e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.105563559482107e-06, + "observation_loss": 4.80921062262496e-06, + "chamfer": 3.956237378588412e-06, + "track": 8.529732440365478e-07, + "acceleration": 2.9635305054398486e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.284191502141766e-06, + "observation_loss": 5.080871233076323e-06, + "chamfer": 4.181452368356986e-06, + "track": 8.99418807875918e-07, + "acceleration": 2.0332046801740944e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.584862719842931e-06, + "observation_loss": 5.431095814856235e-06, + "chamfer": 4.454290319699794e-06, + "track": 9.768057225301163e-07, + "acceleration": 1.5376693340840575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.9418557611934375e-06, + "observation_loss": 5.851045443705516e-06, + "chamfer": 4.790303592017153e-06, + "track": 1.0607418516883627e-06, + "acceleration": 9.08104951236055e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.3279521782533266e-06, + "observation_loss": 6.140277946542483e-06, + "chamfer": 5.01032855027006e-06, + "track": 1.1299491688987473e-06, + "acceleration": 1.8767416065657017e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.369506991177332e-06, + "observation_loss": 6.16834222455509e-06, + "chamfer": 5.039492407377111e-06, + "track": 1.128849930864817e-06, + "acceleration": 2.0116479504395102e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.3017378124641255e-06, + "observation_loss": 6.105578449933091e-06, + "chamfer": 4.98997314934968e-06, + "track": 1.1156051868965733e-06, + "acceleration": 1.9615927726590598e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.28757652521017e-06, + "observation_loss": 6.157591087685432e-06, + "chamfer": 5.0151575123891234e-06, + "track": 1.1424336889831466e-06, + "acceleration": 1.299852669944812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.763666078768438e-06, + "observation_loss": 6.247550572879845e-06, + "chamfer": 5.082822553958977e-06, + "track": 1.164727905234031e-06, + "acceleration": 5.161153922017547e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.777260296075838e-06, + "observation_loss": 5.985186362522654e-06, + "chamfer": 4.88903197037871e-06, + "track": 1.0961541647702688e-06, + "acceleration": 7.9207410408344e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.502248197648441e-06, + "observation_loss": 5.618923751171678e-06, + "chamfer": 4.599277872330276e-06, + "track": 1.0196461062150775e-06, + "acceleration": 8.833243327899254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.290109013207257e-06, + "observation_loss": 5.405227966548409e-06, + "chamfer": 4.425066435942426e-06, + "track": 9.801616442928207e-07, + "acceleration": 8.848812740325229e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.71654925099574e-06, + "observation_loss": 5.598457846645033e-06, + "chamfer": 4.556899511953816e-06, + "track": 1.0415584483780549e-06, + "acceleration": 1.118091518037545e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 7.277679287653882e-06, + "observation_loss": 5.774945748271421e-06, + "chamfer": 4.67219115307671e-06, + "track": 1.1027544815078727e-06, + "acceleration": 1.502733766756137e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.850094334571622e-06, + "observation_loss": 5.975869498797692e-06, + "chamfer": 4.820381491299486e-06, + "track": 1.1554881211850443e-06, + "acceleration": 1.8742252905212808e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.897378054622095e-06, + "observation_loss": 6.09410744800698e-06, + "chamfer": 4.910768439003732e-06, + "track": 1.1833388953164103e-06, + "acceleration": 1.8032707203019527e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.017242296569748e-06, + "observation_loss": 6.156285962788388e-06, + "chamfer": 4.956317297910573e-06, + "track": 1.1999687785646529e-06, + "acceleration": 8.609564474681974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.5410189310787246e-06, + "observation_loss": 6.275565283431206e-06, + "chamfer": 5.049541869084351e-06, + "track": 1.2260236417205306e-06, + "acceleration": 1.2654534202738432e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.389452093775617e-06, + "observation_loss": 6.712254162266618e-06, + "chamfer": 5.381335085985484e-06, + "track": 1.3309191899679718e-06, + "acceleration": 6.771978178221616e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.927335900603794e-06, + "observation_loss": 7.276319138327381e-06, + "chamfer": 5.783507731393911e-06, + "track": 1.492811293246632e-06, + "acceleration": 6.510171601803449e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.464844540867489e-06, + "observation_loss": 7.618627478223061e-06, + "chamfer": 6.034525540599134e-06, + "track": 1.5841018239370896e-06, + "acceleration": 8.462167215839145e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.398136742471252e-06, + "observation_loss": 7.508012458856683e-06, + "chamfer": 5.962744580756407e-06, + "track": 1.5452681054739514e-06, + "acceleration": 8.901242267711496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.387256457353942e-06, + "observation_loss": 7.303843631234486e-06, + "chamfer": 5.818887530040229e-06, + "track": 1.4849562148810946e-06, + "acceleration": 1.0834127124326187e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.58115311327856e-06, + "observation_loss": 7.116851065802621e-06, + "chamfer": 5.676045020663878e-06, + "track": 1.4408060451387428e-06, + "acceleration": 4.6430227484961506e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.173231551860226e-06, + "observation_loss": 6.965284228499513e-06, + "chamfer": 5.561430953093804e-06, + "track": 1.403853161718871e-06, + "acceleration": 2.079474228366962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.133567578421207e-06, + "observation_loss": 6.9811476350878365e-06, + "chamfer": 5.568909273279132e-06, + "track": 1.4122383618087042e-06, + "acceleration": 1.524200285984989e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.203275799838593e-06, + "observation_loss": 7.039688171062153e-06, + "chamfer": 5.6028138715191744e-06, + "track": 1.4368744132298161e-06, + "acceleration": 1.6358758614387625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.2084935709426645e-06, + "observation_loss": 7.126230229914654e-06, + "chamfer": 5.6638946261955425e-06, + "track": 1.4623357174059493e-06, + "acceleration": 8.226319891946332e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.419648682116531e-06, + "observation_loss": 7.216277936095139e-06, + "chamfer": 5.717573003494181e-06, + "track": 1.4987048189141206e-06, + "acceleration": 2.0337070338882768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.881383680796716e-06, + "observation_loss": 7.306514817173593e-06, + "chamfer": 5.786365818494232e-06, + "track": 1.5201492260530358e-06, + "acceleration": 5.748685794060293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.686840374139138e-06, + "observation_loss": 7.465758699254366e-06, + "chamfer": 5.894466539757559e-06, + "track": 1.5712922731836443e-06, + "acceleration": 1.2210815611979342e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.418096851732116e-06, + "observation_loss": 7.63918251323048e-06, + "chamfer": 6.027966719557298e-06, + "track": 1.6112155662995065e-06, + "acceleration": 1.7789139974411228e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.918830644688569e-06, + "observation_loss": 7.835274118406232e-06, + "chamfer": 6.1796636146027595e-06, + "track": 1.6556102764297975e-06, + "acceleration": 1.083556753656012e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.676785910211038e-06, + "observation_loss": 8.216264177463017e-06, + "chamfer": 6.452592060668394e-06, + "track": 1.7636716620472725e-06, + "acceleration": 4.60521505374345e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.066200618690345e-06, + "observation_loss": 8.749511835048907e-06, + "chamfer": 6.8170697886671405e-06, + "track": 1.932442046381766e-06, + "acceleration": 3.166890110151144e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.482538189331535e-06, + "observation_loss": 9.365416190121323e-06, + "chamfer": 7.2366833592241164e-06, + "track": 2.1287328308972064e-06, + "acceleration": 1.1712184289081051e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.81101857178146e-06, + "observation_loss": 9.717401553643867e-06, + "chamfer": 7.476339305867441e-06, + "track": 2.2410617930290755e-06, + "acceleration": 9.361731656554184e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0246985766571015e-05, + "observation_loss": 9.953711014532018e-06, + "chamfer": 7.639391697011888e-06, + "track": 2.314319090146455e-06, + "acceleration": 2.9327492256925325e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.039395465340931e-05, + "observation_loss": 1.0201654731645249e-05, + "chamfer": 7.790075869706925e-06, + "track": 2.4115793166856747e-06, + "acceleration": 1.9229993597491557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0457471944391727e-05, + "observation_loss": 1.0321413355995901e-05, + "chamfer": 7.862241545808502e-06, + "track": 2.459172037561075e-06, + "acceleration": 1.3605901472146797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0561731869529467e-05, + "observation_loss": 1.0167921573156491e-05, + "chamfer": 7.754641956125852e-06, + "track": 2.4132793896569638e-06, + "acceleration": 3.93810154264429e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0814251254487317e-05, + "observation_loss": 9.820514605962671e-06, + "chamfer": 7.537545570812654e-06, + "track": 2.2829694898973685e-06, + "acceleration": 9.937364211509703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0234832188871223e-05, + "observation_loss": 9.619814591133036e-06, + "chamfer": 7.394578005914809e-06, + "track": 2.225236357844551e-06, + "acceleration": 6.150171998342557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.685776603873819e-06, + "observation_loss": 9.438986126042437e-06, + "chamfer": 7.265764452313306e-06, + "track": 2.173221673729131e-06, + "acceleration": 2.4679050625309173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.412940926267765e-06, + "observation_loss": 9.16779026738368e-06, + "chamfer": 7.065921636240091e-06, + "track": 2.1018686311435886e-06, + "acceleration": 2.451511136314366e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.117813533521257e-06, + "observation_loss": 8.918686944525689e-06, + "chamfer": 6.887250492582098e-06, + "track": 2.031436906690942e-06, + "acceleration": 1.9912613424821757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.76973296928918e-06, + "observation_loss": 9.061777745955624e-06, + "chamfer": 6.982192644500174e-06, + "track": 2.07958510145545e-06, + "acceleration": 7.079552801769751e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2353540114418138e-05, + "observation_loss": 9.219452294928487e-06, + "chamfer": 7.057390575937461e-06, + "track": 2.162061491617351e-06, + "acceleration": 3.134087592115975e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2482421880122274e-05, + "observation_loss": 9.239566679752897e-06, + "chamfer": 7.091823135851882e-06, + "track": 2.147743543901015e-06, + "acceleration": 3.242854745622026e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0913450751104392e-05, + "observation_loss": 9.205356036545709e-06, + "chamfer": 7.045479833323043e-06, + "track": 2.1598759758489905e-06, + "acceleration": 1.708094828245521e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0755447874544188e-05, + "observation_loss": 9.211224096361548e-06, + "chamfer": 7.037780051177833e-06, + "track": 2.1734444999310654e-06, + "acceleration": 1.5442234371221275e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0105419278261252e-05, + "observation_loss": 9.325471182819456e-06, + "chamfer": 7.113221272447845e-06, + "track": 2.2122501377452863e-06, + "acceleration": 7.799479817549582e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.828560905589256e-06, + "observation_loss": 9.466672054259107e-06, + "chamfer": 7.1843373916635755e-06, + "track": 2.2823344352218555e-06, + "acceleration": 3.6188842500450846e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.760051398188807e-06, + "observation_loss": 9.662802767707035e-06, + "chamfer": 7.3128362600982655e-06, + "track": 2.3499669623561203e-06, + "acceleration": 9.724825389412217e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0025126357504632e-05, + "observation_loss": 9.92787772702286e-06, + "chamfer": 7.496410489693517e-06, + "track": 2.431467009955668e-06, + "acceleration": 9.724844574066083e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0248996659356635e-05, + "observation_loss": 1.0137682693311945e-05, + "chamfer": 7.640453077328857e-06, + "track": 2.4972300707304385e-06, + "acceleration": 1.1131439237033192e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0321894478693139e-05, + "observation_loss": 1.0222422133665532e-05, + "chamfer": 7.688050573051441e-06, + "track": 2.5343715606140904e-06, + "acceleration": 9.947206081051263e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0449584806337953e-05, + "observation_loss": 1.0285121788911056e-05, + "chamfer": 7.726378498773556e-06, + "track": 2.5587432901374996e-06, + "acceleration": 1.6446281847493083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0521025615162216e-05, + "observation_loss": 1.0354230653319973e-05, + "chamfer": 7.760706466797274e-06, + "track": 2.5935241865227e-06, + "acceleration": 1.667949476313879e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0451670277689118e-05, + "observation_loss": 1.0374504199717194e-05, + "chamfer": 7.767290298943408e-06, + "track": 2.607214355521137e-06, + "acceleration": 7.716651850842027e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0574474799796008e-05, + "observation_loss": 1.0360715350543614e-05, + "chamfer": 7.757786988804583e-06, + "track": 2.602928361739032e-06, + "acceleration": 2.1375970504777797e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0524996469030157e-05, + "observation_loss": 1.0412157280370593e-05, + "chamfer": 7.785640264046378e-06, + "track": 2.6265165615768638e-06, + "acceleration": 1.1283925260840988e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0592222679406404e-05, + "observation_loss": 1.0482088327989914e-05, + "chamfer": 7.816386641934514e-06, + "track": 2.6657016860553995e-06, + "acceleration": 1.1013439404905512e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0628293239278719e-05, + "observation_loss": 1.0545818440732546e-05, + "chamfer": 7.857076525397133e-06, + "track": 2.688742370082764e-06, + "acceleration": 8.247452853993309e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0703221960284282e-05, + "observation_loss": 1.0625923096085899e-05, + "chamfer": 7.904302947281394e-06, + "track": 2.72162037617818e-06, + "acceleration": 7.729845918902356e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0697410289139953e-05, + "observation_loss": 1.0583360563032329e-05, + "chamfer": 7.880771590862423e-06, + "track": 2.702588517422555e-06, + "acceleration": 1.1404971900219607e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0541773917793762e-05, + "observation_loss": 1.0445846783113666e-05, + "chamfer": 7.794814337103162e-06, + "track": 2.651031991263153e-06, + "acceleration": 9.592683625214704e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.189369353317488e-06, + "chamfer_mean": 5.503114103078133e-06, + "track_mean": 1.4806851792078153e-06, + "acceleration_mean": 1.2055700673307967e-06, + "observation_score": 6.983799271627807e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.41695623600026 + }, + "score_arrays_file": "pass_scores/pass_end_0366.npz", + "score_arrays_sha256": "6ec7cfd4d82da649509ecb0db3913bfa66ade30ef38459ad9835eda204cf7fc6" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0367.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0367.json new file mode 100644 index 0000000000000000000000000000000000000000..89381b0594ef4c61f6d84be8faddc42ad2833c2b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0367.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35232, + "completed_passes": 367, + "snapshot": "pass_end_0367", + "candidate": true, + "snapshot_arrays_sha256": "8a5e46302b6a0b15d599347845774d97e7973c16b9a8adb3f3bd5d0401e4cea3", + "score": 6.978377650549798e-06, + "score_result": { + "score": 6.978377650549798e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8828283120674314e-06, + 3.1485865292779636e-06, + 3.2034047308115987e-06, + 3.6359297155286185e-06, + 4.154171620029956e-06, + 4.393729341245489e-06, + 4.154775979259284e-06, + 3.974183528043795e-06, + 3.898194790963316e-06, + 3.97084113501478e-06, + 4.33480272477027e-06, + 4.764546247315593e-06, + 5.053854238212807e-06, + 5.239236543275183e-06, + 5.226780103839701e-06, + 5.1182259994675405e-06, + 4.770094619743759e-06, + 4.381667622510577e-06, + 4.230854756315239e-06, + 4.233064828440547e-06, + 4.174009518465027e-06, + 3.978399490733864e-06, + 3.866371116600931e-06, + 3.94644348489237e-06, + 4.105260359210661e-06, + 4.39769019067171e-06, + 4.733289642899763e-06, + 4.8302435970981605e-06, + 4.767233349411981e-06, + 4.80940570923849e-06, + 5.082615643914323e-06, + 5.435753337224014e-06, + 5.858209988218732e-06, + 6.1488144638133235e-06, + 6.175772341521224e-06, + 6.112588380347006e-06, + 6.1628011280845385e-06, + 6.25060511083575e-06, + 5.988801603962202e-06, + 5.617766873911023e-06, + 5.400967893365305e-06, + 5.592224624706432e-06, + 5.767975835624384e-06, + 5.97467305851751e-06, + 6.089443104428938e-06, + 6.150003628135892e-06, + 6.271204711083556e-06, + 6.704625775455497e-06, + 7.259875019371975e-06, + 7.602519417559961e-06, + 7.496443231502781e-06, + 7.287944754352793e-06, + 7.102459676389117e-06, + 6.955620392545825e-06, + 6.97223367751576e-06, + 7.0326518653018866e-06, + 7.120857844711281e-06, + 7.211548108898569e-06, + 7.301012828975217e-06, + 7.45936904422706e-06, + 7.633217137481552e-06, + 7.828105481166858e-06, + 8.207112841773778e-06, + 8.739641998545267e-06, + 9.355549082101788e-06, + 9.707916433399078e-06, + 9.944709745468572e-06, + 1.0192802619712893e-05, + 1.0311396181350574e-05, + 1.0155355994356796e-05, + 9.806592061067931e-06, + 9.605806553736329e-06, + 9.424968993698712e-06, + 9.155284715234302e-06, + 8.908084964787122e-06, + 9.05440901988186e-06, + 9.212049008056056e-06, + 9.232392585545313e-06, + 9.197277904604562e-06, + 9.203364243148826e-06, + 9.316761861555278e-06, + 9.458685781282838e-06, + 9.654810128267854e-06, + 9.919733201968484e-06, + 1.0129240763490088e-05, + 1.021421303448733e-05, + 1.0277004548697732e-05, + 1.034662091115024e-05, + 1.036711546475999e-05, + 1.0353029210818931e-05, + 1.0403884516563267e-05, + 1.0473731890670024e-05, + 1.0537540219957009e-05, + 1.061778766597854e-05, + 1.0575162377790548e-05, + 1.0437392120365985e-05 + ] + ], + "episode_mean_losses": [ + 6.978377650549798e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8828283120674314e-06, + "observation_loss": 2.8828283120674314e-06, + "chamfer": 2.4446471798000857e-06, + "track": 4.381811606890551e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.186501610092819e-05, + "observation_loss": 3.1485865292779636e-06, + "chamfer": 2.662706037881435e-06, + "track": 4.858804345531098e-07, + "acceleration": 3.871642911690287e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3052272808854468e-05, + "observation_loss": 3.2034047308115987e-06, + "chamfer": 2.7132277864438947e-06, + "track": 4.901768875242851e-07, + "acceleration": 1.9848868760163896e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0081317668664269e-05, + "observation_loss": 3.6359297155286185e-06, + "chamfer": 3.0669743864564225e-06, + "track": 5.689552722287772e-07, + "acceleration": 6.4453884078830015e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.698896529793274e-06, + "observation_loss": 4.154171620029956e-06, + "chamfer": 3.4847403185267467e-06, + "track": 6.69431472033466e-07, + "acceleration": 1.544725137136993e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.486477675731294e-06, + "observation_loss": 4.393729341245489e-06, + "chamfer": 3.6757840007339837e-06, + "track": 7.179455110417621e-07, + "acceleration": 1.0927484481726424e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.740671556646703e-06, + "observation_loss": 4.154775979259284e-06, + "chamfer": 3.4798899832821917e-06, + "track": 6.748859391336737e-07, + "acceleration": 5.858956342308375e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.601314230967546e-06, + "observation_loss": 3.974183528043795e-06, + "chamfer": 3.3342325878038537e-06, + "track": 6.399507128662663e-07, + "acceleration": 6.271305323934939e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.377920049591921e-06, + "observation_loss": 3.898194790963316e-06, + "chamfer": 3.275554945503245e-06, + "track": 6.226398454600712e-07, + "acceleration": 4.797250312549295e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.2724150262074545e-06, + "observation_loss": 3.97084113501478e-06, + "chamfer": 3.3359099234075984e-06, + "track": 6.349314389808569e-07, + "acceleration": 3.015739480360935e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.481255018617958e-06, + "observation_loss": 4.33480272477027e-06, + "chamfer": 3.6337273741082754e-06, + "track": 7.010754075054138e-07, + "acceleration": 1.464522512151234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.857546173298033e-06, + "observation_loss": 4.764546247315593e-06, + "chamfer": 3.979443135904148e-06, + "track": 7.851032819417014e-07, + "acceleration": 9.300000414214082e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.157943633093964e-06, + "observation_loss": 5.053854238212807e-06, + "chamfer": 4.218061803840101e-06, + "track": 8.357923206858686e-07, + "acceleration": 1.0408940909201192e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.3461089919437654e-06, + "observation_loss": 5.239236543275183e-06, + "chamfer": 4.376528522698209e-06, + "track": 8.627079637335555e-07, + "acceleration": 1.0687254103913801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.288657121127471e-06, + "observation_loss": 5.226780103839701e-06, + "chamfer": 4.370050646684831e-06, + "track": 8.567294003114512e-07, + "acceleration": 6.187705992033443e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.2431319090828765e-06, + "observation_loss": 5.1182259994675405e-06, + "chamfer": 4.281244855519617e-06, + "track": 8.369812007913424e-07, + "acceleration": 1.249057248742247e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.972477654519025e-06, + "observation_loss": 4.770094619743759e-06, + "chamfer": 3.995087354269344e-06, + "track": 7.750071517875767e-07, + "acceleration": 2.0238299214270228e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.728083240479464e-06, + "observation_loss": 4.381667622510577e-06, + "chamfer": 3.673019136840594e-06, + "track": 7.086485425134015e-07, + "acceleration": 3.4641578849914367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.421720859681955e-06, + "observation_loss": 4.230854756315239e-06, + "chamfer": 3.543868160704733e-06, + "track": 6.869864819236682e-07, + "acceleration": 1.9086608915586112e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.349552000348922e-06, + "observation_loss": 4.233064828440547e-06, + "chamfer": 3.5414657304499997e-06, + "track": 6.915993253642228e-07, + "acceleration": 1.1648698716726358e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.4835596781922504e-06, + "observation_loss": 4.174009518465027e-06, + "chamfer": 3.4913607578346273e-06, + "track": 6.826488743172376e-07, + "acceleration": 3.095502449923515e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.369506768853171e-06, + "observation_loss": 3.978399490733864e-06, + "chamfer": 3.330897243358777e-06, + "track": 6.475021336882492e-07, + "acceleration": 3.911073633844353e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.476089088711888e-06, + "observation_loss": 3.866371116600931e-06, + "chamfer": 3.2415530313301133e-06, + "track": 6.248181989576551e-07, + "acceleration": 6.097180857977946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.6301379370561335e-06, + "observation_loss": 3.94644348489237e-06, + "chamfer": 3.302423237983021e-06, + "track": 6.440200763790926e-07, + "acceleration": 6.836943953203445e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.469696250453126e-06, + "observation_loss": 4.105260359210661e-06, + "chamfer": 3.4169902392022777e-06, + "track": 6.882700063215452e-07, + "acceleration": 3.6443611861614045e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.678198820329271e-06, + "observation_loss": 4.39769019067171e-06, + "chamfer": 3.638213684098446e-06, + "track": 7.594765065732645e-07, + "acceleration": 2.805084875490138e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.095288997836178e-06, + "observation_loss": 4.733289642899763e-06, + "chamfer": 3.8956586649874225e-06, + "track": 8.376307505386649e-07, + "acceleration": 3.619994970449625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.345674253476318e-06, + "observation_loss": 4.8302435970981605e-06, + "chamfer": 3.9720284803479444e-06, + "track": 8.582151167502161e-07, + "acceleration": 5.15430826908414e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.366040568333119e-06, + "observation_loss": 4.767233349411981e-06, + "chamfer": 3.917029516742332e-06, + "track": 8.502038326696493e-07, + "acceleration": 5.988073326079757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.097754183225334e-06, + "observation_loss": 4.80940570923849e-06, + "chamfer": 3.956211912736762e-06, + "track": 8.531936259714712e-07, + "acceleration": 2.8834853083026246e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.278101070871344e-06, + "observation_loss": 5.082615643914323e-06, + "chamfer": 4.182649263384519e-06, + "track": 8.999664942166419e-07, + "acceleration": 1.9548535590274696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.5817217798903584e-06, + "observation_loss": 5.435753337224014e-06, + "chamfer": 4.457729573914548e-06, + "track": 9.780235359357903e-07, + "acceleration": 1.4596864161831036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.946327746642055e-06, + "observation_loss": 5.858209988218732e-06, + "chamfer": 4.795524546352681e-06, + "track": 1.0626853281792137e-06, + "acceleration": 8.811795026986147e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.333702003757935e-06, + "observation_loss": 6.1488144638133235e-06, + "chamfer": 5.016534487367608e-06, + "track": 1.1322800901325536e-06, + "acceleration": 1.8488732678179076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.37803714198526e-06, + "observation_loss": 6.175772341521224e-06, + "chamfer": 5.0448988986318e-06, + "track": 1.1308733292025863e-06, + "acceleration": 2.0226491415087366e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.308226602413924e-06, + "observation_loss": 6.112588380347006e-06, + "chamfer": 4.995511972083477e-06, + "track": 1.1170765219503664e-06, + "acceleration": 1.9563819364520896e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.282196409301832e-06, + "observation_loss": 6.1628011280845385e-06, + "chamfer": 5.019519903726177e-06, + "track": 1.1432811106715235e-06, + "acceleration": 1.1939523858472967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.726836545567494e-06, + "observation_loss": 6.25060511083575e-06, + "chamfer": 5.08560970047256e-06, + "track": 1.1649955240500276e-06, + "acceleration": 4.7623143473174423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.674766609648941e-06, + "observation_loss": 5.988801603962202e-06, + "chamfer": 4.89216654386837e-06, + "track": 1.0966348327201558e-06, + "acceleration": 6.859651193735772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.395959644578397e-06, + "observation_loss": 5.617766873911023e-06, + "chamfer": 4.598861778504215e-06, + "track": 1.0189048680331325e-06, + "acceleration": 7.781929980410496e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.216839210537728e-06, + "observation_loss": 5.400967893365305e-06, + "chamfer": 4.4219491428521e-06, + "track": 9.790185231395299e-07, + "acceleration": 8.158712034855853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.520970146084437e-06, + "observation_loss": 5.592224624706432e-06, + "chamfer": 4.551840447675204e-06, + "track": 1.0403839496575529e-06, + "acceleration": 9.287453508477483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.931635198270669e-06, + "observation_loss": 5.767975835624384e-06, + "chamfer": 4.666733275371371e-06, + "track": 1.1012426739398506e-06, + "acceleration": 1.1636592489594477e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.60456077841809e-06, + "observation_loss": 5.97467305851751e-06, + "chamfer": 4.819270998268621e-06, + "track": 1.1554021739357268e-06, + "acceleration": 1.6298874925269047e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 8.093452379398514e-06, + "observation_loss": 6.089443104428938e-06, + "chamfer": 4.907091806671815e-06, + "track": 1.182351184070285e-06, + "acceleration": 2.0040090475959005e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.157194886531215e-06, + "observation_loss": 6.150003628135892e-06, + "chamfer": 4.951756636728533e-06, + "track": 1.198246991407359e-06, + "acceleration": 1.007191485768999e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.4064164437004365e-06, + "observation_loss": 6.271204711083556e-06, + "chamfer": 5.04598119732691e-06, + "track": 1.2252235137566458e-06, + "acceleration": 1.135211732616881e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.4931554081558716e-06, + "observation_loss": 6.704625775455497e-06, + "chamfer": 5.375374257710064e-06, + "track": 1.3292514040585957e-06, + "acceleration": 7.885294621701178e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.83355972089339e-06, + "observation_loss": 7.259875019371975e-06, + "chamfer": 5.771547876065597e-06, + "track": 1.4883269159327028e-06, + "acceleration": 5.736843036174832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.533670552424155e-06, + "observation_loss": 7.602519417559961e-06, + "chamfer": 6.0229153859836515e-06, + "track": 1.579604145263147e-06, + "acceleration": 9.311514759247075e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.408645953750238e-06, + "observation_loss": 7.496443231502781e-06, + "chamfer": 5.953926120128017e-06, + "track": 1.542516997687926e-06, + "acceleration": 9.122030633079703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.351737051270902e-06, + "observation_loss": 7.287944754352793e-06, + "chamfer": 5.806790795759298e-06, + "track": 1.4811537312198197e-06, + "acceleration": 1.0637925242917845e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.717828339082189e-06, + "observation_loss": 7.102459676389117e-06, + "chamfer": 5.665053322445601e-06, + "track": 1.437406581317191e-06, + "acceleration": 6.15369117440423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.156542778830044e-06, + "observation_loss": 6.955620392545825e-06, + "chamfer": 5.553865321417106e-06, + "track": 1.4017551848155563e-06, + "acceleration": 2.0092241470592853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.136783551686676e-06, + "observation_loss": 6.97223367751576e-06, + "chamfer": 5.561881152971182e-06, + "track": 1.4103526382314158e-06, + "acceleration": 1.6454967521895014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.200896561698755e-06, + "observation_loss": 7.0326518653018866e-06, + "chamfer": 5.597229119302938e-06, + "track": 1.4354227459989488e-06, + "acceleration": 1.6824478166199697e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.206071131804492e-06, + "observation_loss": 7.120857844711281e-06, + "chamfer": 5.6595931710035075e-06, + "track": 1.4612645600209362e-06, + "acceleration": 8.521350736145905e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.417194410663797e-06, + "observation_loss": 7.211548108898569e-06, + "chamfer": 5.714011876989389e-06, + "track": 1.4975364592828555e-06, + "acceleration": 2.0564623071095411e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.881484634708613e-06, + "observation_loss": 7.301012828975217e-06, + "chamfer": 5.782121661468409e-06, + "track": 1.5188911675068084e-06, + "acceleration": 5.804720331070712e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.69178711582208e-06, + "observation_loss": 7.45936904422706e-06, + "chamfer": 5.889643944101408e-06, + "track": 1.5697252138124895e-06, + "acceleration": 1.2324184126555338e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.418828994967043e-06, + "observation_loss": 7.633217137481552e-06, + "chamfer": 6.0235079217818566e-06, + "track": 1.6097089883260196e-06, + "acceleration": 1.7856123122328427e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.916331353248097e-06, + "observation_loss": 7.828105481166858e-06, + "chamfer": 6.174253940116614e-06, + "track": 1.6538514273634064e-06, + "acceleration": 1.0882256447075633e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.668464033689816e-06, + "observation_loss": 8.207112841773778e-06, + "chamfer": 6.445775852625957e-06, + "track": 1.7613371028346592e-06, + "acceleration": 4.613512203377468e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.056668204721063e-06, + "observation_loss": 8.739641998545267e-06, + "chamfer": 6.809937985963188e-06, + "track": 1.929703785208403e-06, + "acceleration": 3.17026490392891e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.472776582697406e-06, + "observation_loss": 9.355549082101788e-06, + "chamfer": 7.229577022371814e-06, + "track": 2.1259720597299747e-06, + "acceleration": 1.1722740111963503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.801686246646568e-06, + "observation_loss": 9.707916433399078e-06, + "chamfer": 7.4696081355796196e-06, + "track": 2.2383085251931334e-06, + "acceleration": 9.376967824437088e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0238468348688912e-05, + "observation_loss": 9.944709745468572e-06, + "chamfer": 7.633046152477618e-06, + "track": 2.311663820364629e-06, + "acceleration": 2.93758546376921e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0385781934019178e-05, + "observation_loss": 1.0192802619712893e-05, + "chamfer": 7.783928595017642e-06, + "track": 2.4088737973215757e-06, + "acceleration": 1.9297922904115694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0449184628669173e-05, + "observation_loss": 1.0311396181350574e-05, + "chamfer": 7.855298463255167e-06, + "track": 2.4560981728427578e-06, + "acceleration": 1.3778844731859863e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0553875654295553e-05, + "observation_loss": 1.0155355994356796e-05, + "chamfer": 7.745782568235882e-06, + "track": 2.409573198747239e-06, + "acceleration": 3.985200578426884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0810295862029307e-05, + "observation_loss": 9.806592061067931e-06, + "chamfer": 7.527723482780857e-06, + "track": 2.2788690330344252e-06, + "acceleration": 1.0037040283350507e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0226945050817449e-05, + "observation_loss": 9.605806553736329e-06, + "chamfer": 7.3846354098350275e-06, + "track": 2.221170916527626e-06, + "acceleration": 6.21138724454795e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.672789929027203e-06, + "observation_loss": 9.424968993698712e-06, + "chamfer": 7.2557240855530836e-06, + "track": 2.1692451355193043e-06, + "acceleration": 2.478209069067816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.400885573995765e-06, + "observation_loss": 9.155284715234302e-06, + "chamfer": 7.05696402292233e-06, + "track": 2.098320464938297e-06, + "acceleration": 2.45600574544369e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.100625902647153e-06, + "observation_loss": 8.908084964787122e-06, + "chamfer": 6.8795129664067645e-06, + "track": 2.028571771006682e-06, + "acceleration": 1.9254083838404767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.709535333968233e-06, + "observation_loss": 9.05440901988186e-06, + "chamfer": 6.977509656280745e-06, + "track": 2.0768998183484655e-06, + "acceleration": 6.551260867126985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2422602594597265e-05, + "observation_loss": 9.212049008056056e-06, + "chamfer": 7.051799002510961e-06, + "track": 2.1602500055450946e-06, + "acceleration": 3.2105535865412094e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2561147741507739e-05, + "observation_loss": 9.232392585545313e-06, + "chamfer": 7.08634297552635e-06, + "track": 2.146049610018963e-06, + "acceleration": 3.3287547012150753e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.094261278922204e-05, + "observation_loss": 9.197277904604562e-06, + "chamfer": 7.039874162728665e-06, + "track": 2.1574037418758962e-06, + "acceleration": 1.7453346572438022e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0785383892653044e-05, + "observation_loss": 9.203364243148826e-06, + "chamfer": 7.0319674705388024e-06, + "track": 2.1713967726100236e-06, + "acceleration": 1.582019763191056e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0104955435963348e-05, + "observation_loss": 9.316761861555278e-06, + "chamfer": 7.107085366442334e-06, + "track": 2.209676267739269e-06, + "acceleration": 7.881939154685824e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.818229045777116e-06, + "observation_loss": 9.458685781282838e-06, + "chamfer": 7.179263775469735e-06, + "track": 2.2794217784394277e-06, + "acceleration": 3.595429518554738e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.75327111518709e-06, + "observation_loss": 9.654810128267854e-06, + "chamfer": 7.307831310754409e-06, + "track": 2.3469788175134454e-06, + "acceleration": 9.846061033158549e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0019309229392093e-05, + "observation_loss": 9.919733201968484e-06, + "chamfer": 7.491206815757323e-06, + "track": 2.4285259314638097e-06, + "acceleration": 9.95760700561732e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.024238645186415e-05, + "observation_loss": 1.0129240763490088e-05, + "chamfer": 7.63510433898773e-06, + "track": 2.494135969755007e-06, + "acceleration": 1.1314548231666777e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.031456486089155e-05, + "observation_loss": 1.021421303448733e-05, + "chamfer": 7.682911018491723e-06, + "track": 2.5313022433692822e-06, + "acceleration": 1.0035174824452042e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0443023711559363e-05, + "observation_loss": 1.0277004548697732e-05, + "chamfer": 7.721109795966186e-06, + "track": 2.555894297984196e-06, + "acceleration": 1.6601907759650203e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0515698704693932e-05, + "observation_loss": 1.034662091115024e-05, + "chamfer": 7.75565149524482e-06, + "track": 2.5909691885317443e-06, + "acceleration": 1.6907797828480398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0444743566040415e-05, + "observation_loss": 1.036711546475999e-05, + "chamfer": 7.762568202451803e-06, + "track": 2.6045474896818632e-06, + "acceleration": 7.762836418123698e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0565258889982942e-05, + "observation_loss": 1.0353029210818931e-05, + "chamfer": 7.752868441457395e-06, + "track": 2.600160314614186e-06, + "acceleration": 2.1222977863999404e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0514852874621283e-05, + "observation_loss": 1.0403884516563267e-05, + "chamfer": 7.780376108712517e-06, + "track": 2.6235081804770743e-06, + "acceleration": 1.1096847885028183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0583741641312372e-05, + "observation_loss": 1.0473731890670024e-05, + "chamfer": 7.811052455508616e-06, + "track": 2.662678980414057e-06, + "acceleration": 1.1000959432294621e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0619472959660925e-05, + "observation_loss": 1.0537540219957009e-05, + "chamfer": 7.85188876761822e-06, + "track": 2.685651679712464e-06, + "acceleration": 8.19325904899415e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0695003766159061e-05, + "observation_loss": 1.061778766597854e-05, + "chamfer": 7.899280717538204e-06, + "track": 2.718507175814011e-06, + "acceleration": 7.72165194007357e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.06897914520232e-05, + "observation_loss": 1.0575162377790548e-05, + "chamfer": 7.875740266172215e-06, + "track": 2.699422338992008e-06, + "acceleration": 1.1462874738299433e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0533379281696398e-05, + "observation_loss": 1.0437392120365985e-05, + "chamfer": 7.789530172885861e-06, + "track": 2.6478614927327726e-06, + "acceleration": 9.598706185443007e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.17954613078579e-06, + "chamfer_mean": 5.499191184791623e-06, + "track_mean": 1.479186432895574e-06, + "acceleration_mean": 1.2011685036246906e-06, + "observation_score": 6.978377650549798e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4320124940004462 + }, + "score_arrays_file": "pass_scores/pass_end_0367.npz", + "score_arrays_sha256": "ed4876e331ea6d465471c8e81104a1b8535dbfaf4849a1bd7601673daa1ca663" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0368.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0368.json new file mode 100644 index 0000000000000000000000000000000000000000..5e05a0a1e9cc89bdd31b8fa3800d357ab0a50130 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0368.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35328, + "completed_passes": 368, + "snapshot": "pass_end_0368", + "candidate": true, + "snapshot_arrays_sha256": "1799a5549fff94102843e8a1c0edbd050f97fd0d9976f57d832c8a963a624c72", + "score": 6.977864934754052e-06, + "score_result": { + "score": 6.977864934754052e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8832018870161846e-06, + 3.14838462145417e-06, + 3.202351763320621e-06, + 3.634675749708549e-06, + 4.1521875573380385e-06, + 4.391709808260202e-06, + 4.153115696681198e-06, + 3.972314516431652e-06, + 3.896077487297589e-06, + 3.968410055676941e-06, + 4.332162916398374e-06, + 4.760758201882709e-06, + 5.049018909630831e-06, + 5.233829142525792e-06, + 5.2208624765626155e-06, + 5.112706276122481e-06, + 4.764963250636356e-06, + 4.377062396088149e-06, + 4.227159934089286e-06, + 4.2283963921363465e-06, + 4.167582119407598e-06, + 3.970442776335403e-06, + 3.860910055664135e-06, + 3.9450642361771315e-06, + 4.108733264729381e-06, + 4.404085302667227e-06, + 4.738327788800234e-06, + 4.831305886909831e-06, + 4.76804825666477e-06, + 4.812450242752675e-06, + 5.087150839244714e-06, + 5.442534529720433e-06, + 5.866412266186671e-06, + 6.156849849503487e-06, + 6.181740900501609e-06, + 6.117495559010422e-06, + 6.1671471485169604e-06, + 6.252869752643164e-06, + 5.990912541165017e-06, + 5.612718268821482e-06, + 5.396823326009326e-06, + 5.586025054071797e-06, + 5.764354682469275e-06, + 5.973987754259724e-06, + 6.080340426706243e-06, + 6.1448931774066295e-06, + 6.273203325690702e-06, + 6.703622148052091e-06, + 7.253608146129409e-06, + 7.6027813520340715e-06, + 7.497378192056203e-06, + 7.280838872247841e-06, + 7.1029016908141784e-06, + 6.9582451942551415e-06, + 6.970885806367733e-06, + 7.034144800854847e-06, + 7.125005140551366e-06, + 7.216433004941791e-06, + 7.30767806089716e-06, + 7.46654586691875e-06, + 7.642027412657626e-06, + 7.837743396521546e-06, + 8.215755769924726e-06, + 8.748356776777655e-06, + 9.364710422232747e-06, + 9.71817280515097e-06, + 9.955871973943431e-06, + 1.0204728823737241e-05, + 1.0322076377633493e-05, + 1.0163551451114472e-05, + 9.812694770516828e-06, + 9.610493179934565e-06, + 9.428549674339592e-06, + 9.158381544693839e-06, + 8.911869372241199e-06, + 9.059935109689832e-06, + 9.216679245582782e-06, + 9.235256584361196e-06, + 9.196501196129248e-06, + 9.201045031659305e-06, + 9.311585017712787e-06, + 9.453449820284732e-06, + 9.647777005739044e-06, + 9.911204870149959e-06, + 1.0120658771484159e-05, + 1.0205045327893458e-05, + 1.0268429832649417e-05, + 1.0338796528230887e-05, + 1.035892819345463e-05, + 1.0343826033931691e-05, + 1.0393850971013308e-05, + 1.0463205398991704e-05, + 1.0526282494538464e-05, + 1.0606108844513074e-05, + 1.0563469004409853e-05, + 1.0426188055134844e-05 + ] + ], + "episode_mean_losses": [ + 6.977864934754052e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8832018870161846e-06, + "observation_loss": 2.8832018870161846e-06, + "chamfer": 2.4449454940622672e-06, + "track": 4.3825636453220795e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1877079638652503e-05, + "observation_loss": 3.14838462145417e-06, + "chamfer": 2.662534825503826e-06, + "track": 4.858496822635061e-07, + "acceleration": 3.8728696381440386e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3058437363943085e-05, + "observation_loss": 3.202351763320621e-06, + "chamfer": 2.7123489871883066e-06, + "track": 4.900026624454767e-07, + "acceleration": 1.9856084691127762e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.008490380627336e-05, + "observation_loss": 3.634675749708549e-06, + "chamfer": 3.065935743506998e-06, + "track": 5.687400062015513e-07, + "acceleration": 6.450228283938486e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.700791007257067e-06, + "observation_loss": 4.1521875573380385e-06, + "chamfer": 3.483120508462889e-06, + "track": 6.690672194054059e-07, + "acceleration": 1.5486032225453528e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.4844681471877266e-06, + "observation_loss": 4.391709808260202e-06, + "chamfer": 3.674147819765494e-06, + "track": 7.175618179644516e-07, + "acceleration": 1.0927584526143619e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.736656592285726e-06, + "observation_loss": 4.153115696681198e-06, + "chamfer": 3.4785243769874796e-06, + "track": 6.745914902239747e-07, + "acceleration": 5.835410092913662e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.597557563101873e-06, + "observation_loss": 3.972314516431652e-06, + "chamfer": 3.3326884931739187e-06, + "track": 6.396262506314088e-07, + "acceleration": 6.252431603570585e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.373507181298919e-06, + "observation_loss": 3.896077487297589e-06, + "chamfer": 3.273794845881639e-06, + "track": 6.222824708856933e-07, + "acceleration": 4.774299213750055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.2687620407377835e-06, + "observation_loss": 3.968410055676941e-06, + "chamfer": 3.333893118906417e-06, + "track": 6.345170504573616e-07, + "acceleration": 3.003519850608427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.478026767174015e-06, + "observation_loss": 4.332162916398374e-06, + "chamfer": 3.6315734632808017e-06, + "track": 7.00589339430735e-07, + "acceleration": 1.4586386498649517e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.853818154515466e-06, + "observation_loss": 4.760758201882709e-06, + "chamfer": 3.9763822314853314e-06, + "track": 7.843760840842151e-07, + "acceleration": 9.306011605758613e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.152740413905121e-06, + "observation_loss": 5.049018909630831e-06, + "chamfer": 4.214175987726776e-06, + "track": 8.348428650606365e-07, + "acceleration": 1.0372129111146933e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.3404610298457555e-06, + "observation_loss": 5.233829142525792e-06, + "chamfer": 4.37217886428698e-06, + "track": 8.616505056124879e-07, + "acceleration": 1.0663173100056156e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.282507572701434e-06, + "observation_loss": 5.2208624765626155e-06, + "chamfer": 4.36523305324954e-06, + "track": 8.55629309626238e-07, + "acceleration": 6.164493271398896e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.237555342318956e-06, + "observation_loss": 5.112706276122481e-06, + "chamfer": 4.276757408661069e-06, + "track": 8.359489243048301e-07, + "acceleration": 1.2484896672049217e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.967550921719521e-06, + "observation_loss": 4.764963250636356e-06, + "chamfer": 3.990886852989206e-06, + "track": 7.740765681774064e-07, + "acceleration": 2.025876284506012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.724262453237316e-06, + "observation_loss": 4.377062396088149e-06, + "chamfer": 3.6692090361611918e-06, + "track": 7.078531325532822e-07, + "acceleration": 3.471999150406191e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.417585842020344e-06, + "observation_loss": 4.227159934089286e-06, + "chamfer": 3.5408013445703546e-06, + "track": 6.863587600491883e-07, + "acceleration": 1.9042593635276717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.343850832810858e-06, + "observation_loss": 4.2283963921363465e-06, + "chamfer": 3.537606744430377e-06, + "track": 6.907895340191317e-07, + "acceleration": 1.15454326987674e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.477227776078507e-06, + "observation_loss": 4.167582119407598e-06, + "chamfer": 3.4860524920077296e-06, + "track": 6.815297979301249e-07, + "acceleration": 3.096457703577471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.363327207101975e-06, + "observation_loss": 3.970442776335403e-06, + "chamfer": 3.324258614156861e-06, + "track": 6.461842190219613e-07, + "acceleration": 3.928844023448619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.473129138204968e-06, + "observation_loss": 3.860910055664135e-06, + "chamfer": 3.236965767428046e-06, + "track": 6.239444019229268e-07, + "acceleration": 6.122189120105759e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.626141162589192e-06, + "observation_loss": 3.9450642361771315e-06, + "chamfer": 3.3011774576152675e-06, + "track": 6.438868922487018e-07, + "acceleration": 6.810769264120609e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.475513833313016e-06, + "observation_loss": 4.108733264729381e-06, + "chamfer": 3.4197730656160275e-06, + "track": 6.889603128001909e-07, + "acceleration": 3.6678059700534504e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.686480224336265e-06, + "observation_loss": 4.404085302667227e-06, + "chamfer": 3.6432797969609965e-06, + "track": 7.60805562549649e-07, + "acceleration": 2.823948079822003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.101440365251619e-06, + "observation_loss": 4.738327788800234e-06, + "chamfer": 3.8997559386189096e-06, + "track": 8.385717933379055e-07, + "acceleration": 3.6311234907770995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.352463176677702e-06, + "observation_loss": 4.831305886909831e-06, + "chamfer": 3.973090315412264e-06, + "track": 8.582154009673104e-07, + "acceleration": 5.211574034547084e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.362433512345888e-06, + "observation_loss": 4.76804825666477e-06, + "chamfer": 3.917758476745803e-06, + "track": 8.502899504492234e-07, + "acceleration": 5.943853693679557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.093603704153793e-06, + "observation_loss": 4.812450242752675e-06, + "chamfer": 3.9585061131219845e-06, + "track": 8.53943902257015e-07, + "acceleration": 2.8115363193137455e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.277039690554375e-06, + "observation_loss": 5.087150839244714e-06, + "chamfer": 4.186079422652256e-06, + "track": 9.010713597490394e-07, + "acceleration": 1.8988879446624196e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.5838163461885415e-06, + "observation_loss": 5.442534529720433e-06, + "chamfer": 4.462807282834547e-06, + "track": 9.797273605727241e-07, + "acceleration": 1.4128166014870658e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.951599632680882e-06, + "observation_loss": 5.866412266186671e-06, + "chamfer": 4.801506293006241e-06, + "track": 1.0649058594935923e-06, + "acceleration": 8.518723149109064e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.3384345594386104e-06, + "observation_loss": 6.156849849503487e-06, + "chamfer": 5.022301138524199e-06, + "track": 1.1345488246661262e-06, + "acceleration": 1.8158483783281554e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.386027962435037e-06, + "observation_loss": 6.181740900501609e-06, + "chamfer": 5.049144874647027e-06, + "track": 1.1325961395414197e-06, + "acceleration": 2.0428703351171862e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.313466201390838e-06, + "observation_loss": 6.117495559010422e-06, + "chamfer": 4.999321390641853e-06, + "track": 1.1181741683685686e-06, + "acceleration": 1.9597048606101453e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.277355169004295e-06, + "observation_loss": 6.1671471485169604e-06, + "chamfer": 5.023058747610776e-06, + "track": 1.144088287219347e-06, + "acceleration": 1.1020782864079592e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.687330824206583e-06, + "observation_loss": 6.252869752643164e-06, + "chamfer": 5.087667886982672e-06, + "track": 1.1652018656604923e-06, + "acceleration": 4.344609294548718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.535219199577114e-06, + "observation_loss": 5.990912541165017e-06, + "chamfer": 4.893927780358354e-06, + "track": 1.0969845334329875e-06, + "acceleration": 5.443067152555159e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.181888238643296e-06, + "observation_loss": 5.612718268821482e-06, + "chamfer": 4.5952319851494394e-06, + "track": 1.0174862836720422e-06, + "acceleration": 5.691700266652333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 6.0201236919965595e-06, + "observation_loss": 5.396823326009326e-06, + "chamfer": 4.418811386130983e-06, + "track": 9.780120535651804e-07, + "acceleration": 6.233003659872338e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.258726898522582e-06, + "observation_loss": 5.586025054071797e-06, + "chamfer": 4.546813670458505e-06, + "track": 1.0392112699264544e-06, + "acceleration": 6.727019581376226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.483781817223644e-06, + "observation_loss": 5.764354682469275e-06, + "chamfer": 4.6638870117021725e-06, + "track": 1.1004675570802647e-06, + "acceleration": 7.194273052846256e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 7.047393864922924e-06, + "observation_loss": 5.973987754259724e-06, + "chamfer": 4.818506567971781e-06, + "track": 1.1554810726011056e-06, + "acceleration": 1.073405996976362e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.969541911734268e-06, + "observation_loss": 6.080340426706243e-06, + "chamfer": 4.900288331555203e-06, + "track": 1.1800520951510407e-06, + "acceleration": 1.8892015987148625e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.577596988994628e-06, + "observation_loss": 6.1448931774066295e-06, + "chamfer": 4.948356945533305e-06, + "track": 1.1965363455601619e-06, + "acceleration": 1.432703697901161e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.161825124057941e-06, + "observation_loss": 6.273203325690702e-06, + "chamfer": 5.04727904626634e-06, + "track": 1.2259240520506864e-06, + "acceleration": 8.886217983672395e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.690146958339028e-06, + "observation_loss": 6.703622148052091e-06, + "chamfer": 5.37426922164741e-06, + "track": 1.329352926404681e-06, + "acceleration": 9.865243555395864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.690485290368088e-06, + "observation_loss": 7.253608146129409e-06, + "chamfer": 5.767235506937141e-06, + "track": 1.4863725255054305e-06, + "acceleration": 4.368767179130373e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.387136404053308e-06, + "observation_loss": 7.6027813520340715e-06, + "chamfer": 6.023243258823641e-06, + "track": 1.5795382068972685e-06, + "acceleration": 7.843548246455612e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.47702904138714e-06, + "observation_loss": 7.497378192056203e-06, + "chamfer": 5.954192602075636e-06, + "track": 1.5431857036674046e-06, + "acceleration": 9.79650621957262e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.103927029878832e-06, + "observation_loss": 7.280838872247841e-06, + "chamfer": 5.801842235086951e-06, + "track": 1.4789968645345652e-06, + "acceleration": 8.230885555349232e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.736311090411618e-06, + "observation_loss": 7.1029016908141784e-06, + "chamfer": 5.665509888785891e-06, + "track": 1.437391915715125e-06, + "acceleration": 6.334090016935079e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1399585976905655e-06, + "observation_loss": 6.9582451942551415e-06, + "chamfer": 5.5558029998792335e-06, + "track": 1.4024423080627457e-06, + "acceleration": 1.8171360238738998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.15406304152566e-06, + "observation_loss": 6.970885806367733e-06, + "chamfer": 5.561009402299533e-06, + "track": 1.4098761766945245e-06, + "acceleration": 1.8317734884476522e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.191207714640768e-06, + "observation_loss": 7.034144800854847e-06, + "chamfer": 5.598512416327139e-06, + "track": 1.4356324982145452e-06, + "acceleration": 1.5706295641848556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.215946425276343e-06, + "observation_loss": 7.125005140551366e-06, + "chamfer": 5.662864623445785e-06, + "track": 1.4621402897319058e-06, + "acceleration": 9.094119945984858e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.424488103424665e-06, + "observation_loss": 7.216433004941791e-06, + "chamfer": 5.717991371056996e-06, + "track": 1.4984418612584705e-06, + "acceleration": 2.08055212169711e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.898605872469489e-06, + "observation_loss": 7.30767806089716e-06, + "chamfer": 5.787378995592007e-06, + "track": 1.5202992926788284e-06, + "acceleration": 5.909280389460037e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.71624069986865e-06, + "observation_loss": 7.46654586691875e-06, + "chamfer": 5.895320100535173e-06, + "track": 1.5712259937572526e-06, + "acceleration": 1.2496948329498991e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.444833267480135e-06, + "observation_loss": 7.642027412657626e-06, + "chamfer": 6.030258191458415e-06, + "track": 1.6117687664518598e-06, + "acceleration": 1.8028057411356713e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.936734047892969e-06, + "observation_loss": 7.837743396521546e-06, + "chamfer": 6.181614935485413e-06, + "track": 1.656128688409808e-06, + "acceleration": 1.0989909924319363e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.678451195009984e-06, + "observation_loss": 8.215755769924726e-06, + "chamfer": 6.4521491367486306e-06, + "track": 1.763606974236609e-06, + "acceleration": 4.6269514086816343e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.064691766980104e-06, + "observation_loss": 8.748356776777655e-06, + "chamfer": 6.816349468863336e-06, + "track": 1.9320068531669676e-06, + "acceleration": 3.1633487651561154e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.481650522502605e-06, + "observation_loss": 9.364710422232747e-06, + "chamfer": 7.23622360965237e-06, + "track": 2.1284865852067014e-06, + "acceleration": 1.1693990842331914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.81187531579053e-06, + "observation_loss": 9.71817280515097e-06, + "chamfer": 7.4770582614291925e-06, + "track": 2.2411140889744274e-06, + "acceleration": 9.370280196208114e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0250069863104727e-05, + "observation_loss": 9.955871973943431e-06, + "chamfer": 7.641091542609502e-06, + "track": 2.3147806587076047e-06, + "acceleration": 2.941978038961679e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0397957339591812e-05, + "observation_loss": 1.0204728823737241e-05, + "chamfer": 7.792559699737467e-06, + "track": 2.4121686692524236e-06, + "acceleration": 1.9322861533055402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0459963959874585e-05, + "observation_loss": 1.0322076377633493e-05, + "chamfer": 7.863055543566588e-06, + "track": 2.4590206066932296e-06, + "acceleration": 1.3788752539767302e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0563735486357473e-05, + "observation_loss": 1.0163551451114472e-05, + "chamfer": 7.751787961751688e-06, + "track": 2.4117632619891083e-06, + "acceleration": 4.001838078693254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0822828699019738e-05, + "observation_loss": 9.812694770516828e-06, + "chamfer": 7.532125891884789e-06, + "track": 2.280568423884688e-06, + "acceleration": 1.0101343832502607e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0236935850116424e-05, + "observation_loss": 9.610493179934565e-06, + "chamfer": 7.387937330349814e-06, + "track": 2.2225560769584263e-06, + "acceleration": 6.264428407121159e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.678054084361065e-06, + "observation_loss": 9.428549674339592e-06, + "chamfer": 7.2582756729389075e-06, + "track": 2.1702742287743604e-06, + "acceleration": 2.495041826477973e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.403984222444706e-06, + "observation_loss": 9.158381544693839e-06, + "chamfer": 7.059045856294688e-06, + "track": 2.0993354610254755e-06, + "acceleration": 2.456025072206103e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.097204383579083e-06, + "observation_loss": 8.911869372241199e-06, + "chamfer": 6.88191676090355e-06, + "track": 2.0299530660849996e-06, + "acceleration": 1.8533521028984978e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.664478966442402e-06, + "observation_loss": 9.059935109689832e-06, + "chamfer": 6.981933893257519e-06, + "track": 2.0780012164323125e-06, + "acceleration": 6.045440841262462e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2512681678344961e-05, + "observation_loss": 9.216679245582782e-06, + "chamfer": 7.05476850271225e-06, + "track": 2.161911197617883e-06, + "acceleration": 3.296002660135855e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2664739188039675e-05, + "observation_loss": 9.235256584361196e-06, + "chamfer": 7.0879254963074345e-06, + "track": 2.147331088053761e-06, + "acceleration": 3.429482148931129e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.0986741472152062e-05, + "observation_loss": 9.196501196129248e-06, + "chamfer": 7.039290721877478e-06, + "track": 2.1572100195044186e-06, + "acceleration": 1.790239934962301e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0818513146659825e-05, + "observation_loss": 9.201045031659305e-06, + "chamfer": 7.029949756542919e-06, + "track": 2.171094820369035e-06, + "acceleration": 1.6174678876268445e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0104134162247647e-05, + "observation_loss": 9.311585017712787e-06, + "chamfer": 7.103550615283893e-06, + "track": 2.2080339476815425e-06, + "acceleration": 7.925492582216975e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.806988600757904e-06, + "observation_loss": 9.453449820284732e-06, + "chamfer": 7.1764229687687475e-06, + "track": 2.2770263967686333e-06, + "acceleration": 3.535388373165915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.74587419477757e-06, + "observation_loss": 9.647777005739044e-06, + "chamfer": 7.303739494091133e-06, + "track": 2.3440375116479117e-06, + "acceleration": 9.809686218886782e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0011574886448216e-05, + "observation_loss": 9.911204870149959e-06, + "chamfer": 7.485891728720162e-06, + "track": 2.425313141429797e-06, + "acceleration": 1.0037006603624832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0234134606434964e-05, + "observation_loss": 1.0120658771484159e-05, + "chamfer": 7.629811989318114e-06, + "track": 2.4908463274186943e-06, + "acceleration": 1.1347625417101881e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0304072020517197e-05, + "observation_loss": 1.0205045327893458e-05, + "chamfer": 7.677044777665287e-06, + "track": 2.528001004975522e-06, + "acceleration": 9.902704789510608e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0435141120979097e-05, + "observation_loss": 1.0268429832649417e-05, + "chamfer": 7.715731953794602e-06, + "track": 2.552697878854815e-06, + "acceleration": 1.6671168623361154e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0509382263990119e-05, + "observation_loss": 1.0338796528230887e-05, + "chamfer": 7.750527402095031e-06, + "track": 2.5882688987621805e-06, + "acceleration": 1.7058580681350577e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0436981028760783e-05, + "observation_loss": 1.035892819345463e-05, + "chamfer": 7.757394996588118e-06, + "track": 2.6015327421191614e-06, + "acceleration": 7.805306267982814e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0554518667049706e-05, + "observation_loss": 1.0343826033931691e-05, + "chamfer": 7.74701766204089e-06, + "track": 2.596808371890802e-06, + "acceleration": 2.1069267575057893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0504810234124307e-05, + "observation_loss": 1.0393850971013308e-05, + "chamfer": 7.77409331931267e-06, + "track": 2.619757424326963e-06, + "acceleration": 1.1095958996065747e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0573722647677641e-05, + "observation_loss": 1.0463205398991704e-05, + "chamfer": 7.804424967616796e-06, + "track": 2.6587804313749075e-06, + "acceleration": 1.1051699999597986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0607780495774932e-05, + "observation_loss": 1.0526282494538464e-05, + "chamfer": 7.84482472226955e-06, + "track": 2.6814577722689137e-06, + "acceleration": 8.149802255275063e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.068344045052072e-05, + "observation_loss": 1.0606108844513074e-05, + "chamfer": 7.89187652117107e-06, + "track": 2.7142325507156784e-06, + "acceleration": 7.733131468512511e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0678537364583462e-05, + "observation_loss": 1.0563469004409853e-05, + "chamfer": 7.868389729992487e-06, + "track": 2.6950790470436914e-06, + "acceleration": 1.1506829622476289e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0521391232032329e-05, + "observation_loss": 1.0426188055134844e-05, + "chamfer": 7.782465218042489e-06, + "track": 2.6437230644660303e-06, + "acceleration": 9.520358190684419e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.160841744597747e-06, + "chamfer_mean": 5.49891714503777e-06, + "track_mean": 1.47894776277487e-06, + "acceleration_mean": 1.1829768118420958e-06, + "observation_score": 6.977864934754052e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.428917815999739 + }, + "score_arrays_file": "pass_scores/pass_end_0368.npz", + "score_arrays_sha256": "9f5daa79e84fa4a17e67f48deaa5b2392db87b0f2b5caee1474ff8335c8756e4" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0369.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0369.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5c815a4030755a17f1064d344f0ddaabc4a9b1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0369.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35424, + "completed_passes": 369, + "snapshot": "pass_end_0369", + "candidate": true, + "snapshot_arrays_sha256": "a98b516273056634bf28790c03c49884264ecbc3cac78189d9c94dbe8225485d", + "score": 6.977468622437755e-06, + "score_result": { + "score": 6.977468622437755e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.883577053580666e-06, + 3.1481765745411394e-06, + 3.201238541805651e-06, + 3.6335263757791836e-06, + 4.150155291426927e-06, + 4.3891141103813425e-06, + 4.150847416894976e-06, + 3.9701299101579934e-06, + 3.893624580086907e-06, + 3.965838004660327e-06, + 4.3289578570693266e-06, + 4.756122052640421e-06, + 5.043076271249447e-06, + 5.227542260399787e-06, + 5.214184966462199e-06, + 5.106208391225664e-06, + 4.759051535074832e-06, + 4.371914201328764e-06, + 4.223194082442205e-06, + 4.223312316753436e-06, + 4.1602584133215714e-06, + 3.961307356803445e-06, + 3.854986061924137e-06, + 3.94383232560358e-06, + 4.112895567232044e-06, + 4.411042482388439e-06, + 4.7441535571124405e-06, + 4.833178536500782e-06, + 4.769090992340352e-06, + 4.8154201977013145e-06, + 5.091780622024089e-06, + 5.448613137559732e-06, + 5.872823294339469e-06, + 6.162307272461476e-06, + 6.185809070302639e-06, + 6.121645128587261e-06, + 6.172032499307534e-06, + 6.25859274805407e-06, + 5.9969452195218764e-06, + 5.615484496956924e-06, + 5.396967026172206e-06, + 5.581639925367199e-06, + 5.760125986853382e-06, + 5.969188805465819e-06, + 6.071149982744828e-06, + 6.140513960417593e-06, + 6.271564870985458e-06, + 6.696684977214318e-06, + 7.240753802761901e-06, + 7.591823759867111e-06, + 7.487446055165492e-06, + 7.270482456078753e-06, + 7.097944944689516e-06, + 6.956748620723374e-06, + 6.969200512685347e-06, + 7.035014732537093e-06, + 7.127957360353321e-06, + 7.218874543468701e-06, + 7.3100968620565254e-06, + 7.468425337719964e-06, + 7.64522064855555e-06, + 7.841105798434e-06, + 8.217087270168122e-06, + 8.748444997763727e-06, + 9.363843673781957e-06, + 9.71853114606347e-06, + 9.958065675164107e-06, + 1.0207136256212834e-05, + 1.0323848982807249e-05, + 1.0164430932491086e-05, + 9.814590157475322e-06, + 9.61247042141622e-06, + 9.430885256733745e-06, + 9.161111847788561e-06, + 8.917098966776393e-06, + 9.069062798516825e-06, + 9.228067938238382e-06, + 9.24852975003887e-06, + 9.206110007653479e-06, + 9.207918992615305e-06, + 9.314391718362458e-06, + 9.455718100070953e-06, + 9.647443221183494e-06, + 9.911136658047326e-06, + 1.0120111255673692e-05, + 1.0203471902059391e-05, + 1.0266888239129912e-05, + 1.0338560059608426e-05, + 1.0357770406699274e-05, + 1.0341903362132143e-05, + 1.0391742762294598e-05, + 1.0460663361300249e-05, + 1.0522880074859131e-05, + 1.0602861038933042e-05, + 1.056009205058217e-05, + 1.0423196727060713e-05 + ] + ], + "episode_mean_losses": [ + 6.977468622437755e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.883577053580666e-06, + "observation_loss": 2.883577053580666e-06, + "chamfer": 2.4452458546875278e-06, + "track": 4.383311704714288e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.188847742625512e-05, + "observation_loss": 3.1481765745411394e-06, + "chamfer": 2.6623602025210857e-06, + "track": 4.858163720200537e-07, + "acceleration": 3.874030153383501e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3063003027345985e-05, + "observation_loss": 3.201238541805651e-06, + "chamfer": 2.7114178919873666e-06, + "track": 4.898207066617033e-07, + "acceleration": 1.9861765395035036e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.008812523650704e-05, + "observation_loss": 3.6335263757791836e-06, + "chamfer": 3.0649871405330487e-06, + "track": 5.685391784027161e-07, + "acceleration": 6.454598860727856e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.7025217756745405e-06, + "observation_loss": 4.150155291426927e-06, + "chamfer": 3.4814756872947328e-06, + "track": 6.686797746624507e-07, + "acceleration": 1.5523664842476137e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.4821452977193985e-06, + "observation_loss": 4.3891141103813425e-06, + "chamfer": 3.6720580283144955e-06, + "track": 7.170559115365904e-07, + "acceleration": 1.0930313010248938e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.732121851702686e-06, + "observation_loss": 4.150847416894976e-06, + "chamfer": 3.4766776479955297e-06, + "track": 6.741697688994464e-07, + "acceleration": 5.812746053379669e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.593963694787817e-06, + "observation_loss": 3.9701299101579934e-06, + "chamfer": 3.3309001992165577e-06, + "track": 6.392296540980169e-07, + "acceleration": 6.238338414732425e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.370680471765809e-06, + "observation_loss": 3.893624580086907e-06, + "chamfer": 3.271773721280624e-06, + "track": 6.218507451194455e-07, + "acceleration": 4.770558348354825e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.266674295649864e-06, + "observation_loss": 3.965838004660327e-06, + "chamfer": 3.331774450998637e-06, + "track": 6.340635536616901e-07, + "acceleration": 3.008361204592802e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.474975412449567e-06, + "observation_loss": 4.3289578570693266e-06, + "chamfer": 3.6289713989390293e-06, + "track": 6.999864012868784e-07, + "acceleration": 1.460177685430608e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.84925476484932e-06, + "observation_loss": 4.756122052640421e-06, + "chamfer": 3.972657850681571e-06, + "track": 7.834640314285934e-07, + "acceleration": 9.313264115462516e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.146941930433968e-06, + "observation_loss": 5.043076271249447e-06, + "chamfer": 4.209416147205047e-06, + "track": 8.336601808878186e-07, + "acceleration": 1.038655526031107e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.334070920071099e-06, + "observation_loss": 5.227542260399787e-06, + "chamfer": 4.36714663010207e-06, + "track": 8.603956302977167e-07, + "acceleration": 1.065288444124235e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.275813691696385e-06, + "observation_loss": 5.214184966462199e-06, + "chamfer": 4.359813829069026e-06, + "track": 8.543712510800106e-07, + "acceleration": 6.162876786675042e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.230997430771822e-06, + "observation_loss": 5.106208391225664e-06, + "chamfer": 4.271471425454365e-06, + "track": 8.347367952410423e-07, + "acceleration": 1.2478921007641475e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.961502781952731e-06, + "observation_loss": 4.759051535074832e-06, + "chamfer": 3.98605152440723e-06, + "track": 7.730001811978582e-07, + "acceleration": 2.0245146004072012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.719310254586162e-06, + "observation_loss": 4.371914201328764e-06, + "chamfer": 3.6649541925726226e-06, + "track": 7.069601792863978e-07, + "acceleration": 3.473961385225266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.413162969285622e-06, + "observation_loss": 4.223194082442205e-06, + "chamfer": 3.5375207971810596e-06, + "track": 6.856735126348212e-07, + "acceleration": 1.8996888684341684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.337185600888915e-06, + "observation_loss": 4.223312316753436e-06, + "chamfer": 3.5334198855707655e-06, + "track": 6.898924880260893e-07, + "acceleration": 1.1387341203317192e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.4699936552206054e-06, + "observation_loss": 4.1602584133215714e-06, + "chamfer": 3.480029135971563e-06, + "track": 6.802291636631708e-07, + "acceleration": 3.0973501452535857e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.351653842604719e-06, + "observation_loss": 3.961307356803445e-06, + "chamfer": 3.3166702451126184e-06, + "track": 6.446369411605701e-07, + "acceleration": 3.9034665633153054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.46084413852077e-06, + "observation_loss": 3.854986061924137e-06, + "chamfer": 3.2319931051461026e-06, + "track": 6.229931273082912e-07, + "acceleration": 6.058580197532137e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.6124382606649306e-06, + "observation_loss": 3.94383232560358e-06, + "chamfer": 3.3000646908476483e-06, + "track": 6.437676347559318e-07, + "acceleration": 6.686059350613505e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.4776274989999365e-06, + "observation_loss": 4.112895567232044e-06, + "chamfer": 3.423146154091228e-06, + "track": 6.897495836710732e-07, + "acceleration": 3.647318465027638e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.69331098429393e-06, + "observation_loss": 4.411042482388439e-06, + "chamfer": 3.648828624136513e-06, + "track": 7.622137445650878e-07, + "acceleration": 2.822686155923293e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.109139692649478e-06, + "observation_loss": 4.7441535571124405e-06, + "chamfer": 3.9044784898578655e-06, + "track": 8.39675067254575e-07, + "acceleration": 3.6498596500678104e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.361532657843782e-06, + "observation_loss": 4.833178536500782e-06, + "chamfer": 3.974806986661861e-06, + "track": 8.583716635257588e-07, + "acceleration": 5.28354064499581e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.362132469599601e-06, + "observation_loss": 4.769090992340352e-06, + "chamfer": 3.918691618309822e-06, + "track": 8.50399146656855e-07, + "acceleration": 5.93041249885573e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.091616003483068e-06, + "observation_loss": 4.8154201977013145e-06, + "chamfer": 3.960743015340995e-06, + "track": 8.546771255169006e-07, + "acceleration": 2.76195891046882e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.276837782730581e-06, + "observation_loss": 5.091780622024089e-06, + "chamfer": 4.189630999462679e-06, + "track": 9.021494520311535e-07, + "acceleration": 1.8505706123050913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.586266979662469e-06, + "observation_loss": 5.448613137559732e-06, + "chamfer": 4.467377038963605e-06, + "track": 9.812360985961277e-07, + "acceleration": 1.3765388473530038e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.9565154515439644e-06, + "observation_loss": 5.872823294339469e-06, + "chamfer": 4.806184733752161e-06, + "track": 1.0666385605873074e-06, + "acceleration": 8.369235615646176e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.341561856970657e-06, + "observation_loss": 6.162307272461476e-06, + "chamfer": 5.0262042350368574e-06, + "track": 1.1361029237377807e-06, + "acceleration": 1.7925441397892428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.389116151694907e-06, + "observation_loss": 6.185809070302639e-06, + "chamfer": 5.052054802945349e-06, + "track": 1.133754153670452e-06, + "acceleration": 2.0330696770543e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.314610345725669e-06, + "observation_loss": 6.121645128587261e-06, + "chamfer": 5.002475063520251e-06, + "track": 1.1191698376933346e-06, + "acceleration": 1.9296541609037376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.279136414377717e-06, + "observation_loss": 6.172032499307534e-06, + "chamfer": 5.0269168241356965e-06, + "track": 1.1451156751718372e-06, + "acceleration": 1.0710400744073922e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.685341759293806e-06, + "observation_loss": 6.25859274805407e-06, + "chamfer": 5.092173523735255e-06, + "track": 1.1664192243188154e-06, + "acceleration": 4.267488975528977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.5123535932798404e-06, + "observation_loss": 5.9969452195218764e-06, + "chamfer": 4.898562110611238e-06, + "track": 1.0983829952238011e-06, + "acceleration": 5.15408373757964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.125675099610817e-06, + "observation_loss": 5.615484496956924e-06, + "chamfer": 4.597301540343324e-06, + "track": 1.0181829566136003e-06, + "acceleration": 5.10190488967055e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.937007244938286e-06, + "observation_loss": 5.396967026172206e-06, + "chamfer": 4.4188295760250185e-06, + "track": 9.78137563834025e-07, + "acceleration": 5.400401619226614e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.168024810904171e-06, + "observation_loss": 5.581639925367199e-06, + "chamfer": 4.543232080322923e-06, + "track": 1.0384076176706003e-06, + "acceleration": 5.863849423803913e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.36909044260392e-06, + "observation_loss": 5.760125986853382e-06, + "chamfer": 4.6604664021288045e-06, + "track": 1.0996596984114149e-06, + "acceleration": 6.089643420637003e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.824185675213812e-06, + "observation_loss": 5.969188805465819e-06, + "chamfer": 4.814420208276715e-06, + "track": 1.154768710875942e-06, + "acceleration": 8.549967560611549e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.716353138675913e-06, + "observation_loss": 6.071149982744828e-06, + "chamfer": 4.893155619356548e-06, + "track": 1.1779942497014417e-06, + "acceleration": 1.6452034969915985e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.688841833441984e-06, + "observation_loss": 6.140513960417593e-06, + "chamfer": 4.945095497532748e-06, + "track": 1.1954184628848452e-06, + "acceleration": 1.5483279867112287e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.090967301337514e-06, + "observation_loss": 6.271564870985458e-06, + "chamfer": 5.045651505497517e-06, + "track": 1.2259134791747783e-06, + "acceleration": 8.194022598217998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.748246389382984e-06, + "observation_loss": 6.696684977214318e-06, + "chamfer": 5.368804522731807e-06, + "track": 1.327880340795673e-06, + "acceleration": 1.0515616395423422e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.702487891947385e-06, + "observation_loss": 7.240753802761901e-06, + "chamfer": 5.75781677980558e-06, + "track": 1.4829372503299965e-06, + "acceleration": 4.617338618118083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.27987605589442e-06, + "observation_loss": 7.591823759867111e-06, + "chamfer": 6.015234703227179e-06, + "track": 1.5765889429530944e-06, + "acceleration": 6.880525234009838e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.50627930049086e-06, + "observation_loss": 7.487446055165492e-06, + "chamfer": 5.946744295215467e-06, + "track": 1.5407015325763496e-06, + "acceleration": 1.0188333590122056e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.015627827262506e-06, + "observation_loss": 7.270482456078753e-06, + "chamfer": 5.794407115899958e-06, + "track": 1.4760754538656329e-06, + "acceleration": 7.451458259311039e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.651707164768595e-06, + "observation_loss": 7.097944944689516e-06, + "chamfer": 5.661892373609589e-06, + "track": 1.4360526847667643e-06, + "acceleration": 5.537621632356604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.136624844861217e-06, + "observation_loss": 6.956748620723374e-06, + "chamfer": 5.5548616728628986e-06, + "track": 1.4018867204868002e-06, + "acceleration": 1.798760820292955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.161632765928516e-06, + "observation_loss": 6.969200512685347e-06, + "chamfer": 5.560145837080199e-06, + "track": 1.4090549029788235e-06, + "acceleration": 1.9243245219513483e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.1854792622616515e-06, + "observation_loss": 7.035014732537093e-06, + "chamfer": 5.599462383543141e-06, + "track": 1.4355523489939515e-06, + "acceleration": 1.5046475709823426e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.218390237540007e-06, + "observation_loss": 7.127957360353321e-06, + "chamfer": 5.665475327987224e-06, + "track": 1.462482032366097e-06, + "acceleration": 9.043282034326694e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.425533112837002e-06, + "observation_loss": 7.218874543468701e-06, + "chamfer": 5.720250101148849e-06, + "track": 1.498624556006689e-06, + "acceleration": 2.0665855515744624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.901847311586607e-06, + "observation_loss": 7.3100968620565254e-06, + "chamfer": 5.789533133793157e-06, + "track": 1.5205636145765311e-06, + "acceleration": 5.917502789998252e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.723098289920017e-06, + "observation_loss": 7.468425337719964e-06, + "chamfer": 5.897072696825489e-06, + "track": 1.5713527545813122e-06, + "acceleration": 1.2546732932605664e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.455096915189642e-06, + "observation_loss": 7.64522064855555e-06, + "chamfer": 6.033114459569333e-06, + "track": 1.6121059616125422e-06, + "acceleration": 1.8098762666340917e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.944100045482628e-06, + "observation_loss": 7.841105798434e-06, + "chamfer": 6.184567155287368e-06, + "track": 1.6565388705203077e-06, + "acceleration": 1.1029941333617899e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.6785621533636e-06, + "observation_loss": 8.217087270168122e-06, + "chamfer": 6.453521109506255e-06, + "track": 1.7635659332881914e-06, + "acceleration": 4.61474655821803e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.062975550477859e-06, + "observation_loss": 8.748444997763727e-06, + "chamfer": 6.816991117375437e-06, + "track": 1.9314536530146142e-06, + "acceleration": 3.145307800878072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.479681466473266e-06, + "observation_loss": 9.363843673781957e-06, + "chamfer": 7.236153123812983e-06, + "track": 2.12769077734265e-06, + "acceleration": 1.1583814085724953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.811740710574668e-06, + "observation_loss": 9.71853114606347e-06, + "chamfer": 7.478184670617338e-06, + "track": 2.240346475446131e-06, + "acceleration": 9.320930161038632e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0252170795865823e-05, + "observation_loss": 9.958065675164107e-06, + "chamfer": 7.643546268809587e-06, + "track": 2.3145194063545205e-06, + "acceleration": 2.941051775451342e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.040003917296417e-05, + "observation_loss": 1.0207136256212834e-05, + "chamfer": 7.795153578626923e-06, + "track": 2.4119824502122356e-06, + "acceleration": 1.9290311570330232e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0460694284120109e-05, + "observation_loss": 1.0323848982807249e-05, + "chamfer": 7.86512919148663e-06, + "track": 2.4587197913206182e-06, + "acceleration": 1.3684565658422798e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0563080650172196e-05, + "observation_loss": 1.0164430932491086e-05, + "chamfer": 7.753277714073192e-06, + "track": 2.4111534457915695e-06, + "acceleration": 3.986498882113665e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.082603102986468e-05, + "observation_loss": 9.814590157475322e-06, + "chamfer": 7.533964435424423e-06, + "track": 2.280625949424575e-06, + "acceleration": 1.0114408723893575e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.02416424851981e-05, + "observation_loss": 9.61247042141622e-06, + "chamfer": 7.389663551293779e-06, + "track": 2.2228070974961156e-06, + "acceleration": 6.291721774687176e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.681749361334369e-06, + "observation_loss": 9.430885256733745e-06, + "chamfer": 7.2602542786626145e-06, + "track": 2.1706312054448063e-06, + "acceleration": 2.5086364985327236e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.409350241185166e-06, + "observation_loss": 9.161111847788561e-06, + "chamfer": 7.060990355967078e-06, + "track": 2.1001212644478073e-06, + "acceleration": 2.4823808075780107e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.099515409616288e-06, + "observation_loss": 8.917098966776393e-06, + "chamfer": 6.885546554258326e-06, + "track": 2.031552185144392e-06, + "acceleration": 1.8241610177938128e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.634584785089828e-06, + "observation_loss": 9.069062798516825e-06, + "chamfer": 6.988843779254239e-06, + "track": 2.0802192466362612e-06, + "acceleration": 5.655219865730032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2593705832841806e-05, + "observation_loss": 9.228067938238382e-06, + "chamfer": 7.062604254315374e-06, + "track": 2.165463229175657e-06, + "acceleration": 3.3656378946034238e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.276267630601069e-05, + "observation_loss": 9.24852975003887e-06, + "chamfer": 7.096958142938092e-06, + "track": 2.1515718344744528e-06, + "acceleration": 3.51414655597182e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.10211831270135e-05, + "observation_loss": 9.206110007653479e-06, + "chamfer": 7.0460782808368094e-06, + "track": 2.160031726816669e-06, + "acceleration": 1.81507323304686e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0837792615348008e-05, + "observation_loss": 9.207918992615305e-06, + "chamfer": 7.034513600956416e-06, + "track": 2.1734056190325646e-06, + "acceleration": 1.6298732816721895e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0100838153448422e-05, + "observation_loss": 9.314391718362458e-06, + "chamfer": 7.105569693521829e-06, + "track": 2.208821570093278e-06, + "acceleration": 7.864460940254503e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.801126907404978e-06, + "observation_loss": 9.455718100070953e-06, + "chamfer": 7.178653504524846e-06, + "track": 2.2770643681724323e-06, + "acceleration": 3.454092336596659e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.743971531861462e-06, + "observation_loss": 9.647443221183494e-06, + "chamfer": 7.304029168153647e-06, + "track": 2.3434135982824955e-06, + "acceleration": 9.652823962369439e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.00094639492454e-05, + "observation_loss": 9.911136658047326e-06, + "chamfer": 7.486301456083311e-06, + "track": 2.4248349745903397e-06, + "acceleration": 9.83271775112371e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0231725354969967e-05, + "observation_loss": 1.0120111255673692e-05, + "chamfer": 7.629891115357168e-06, + "track": 2.490219912942848e-06, + "acceleration": 1.1161453272734434e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0301023394276854e-05, + "observation_loss": 1.0203471902059391e-05, + "chamfer": 7.67617439123569e-06, + "track": 2.527297283450025e-06, + "acceleration": 9.755123642207764e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0430572729092091e-05, + "observation_loss": 1.0266888239129912e-05, + "chamfer": 7.714907951594796e-06, + "track": 2.5519800601614406e-06, + "acceleration": 1.6368488786611124e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0505128557269927e-05, + "observation_loss": 1.0338560059608426e-05, + "chamfer": 7.750384611426853e-06, + "track": 2.5881754481815733e-06, + "acceleration": 1.665683413420993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0432889212097507e-05, + "observation_loss": 1.0357770406699274e-05, + "chamfer": 7.756671948300209e-06, + "track": 2.601098458399065e-06, + "acceleration": 7.511883381994267e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0550450497248676e-05, + "observation_loss": 1.0341903362132143e-05, + "chamfer": 7.745908078504726e-06, + "track": 2.5959955110010924e-06, + "acceleration": 2.0854706406225887e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0502812074264511e-05, + "observation_loss": 1.0391742762294598e-05, + "chamfer": 7.772917342663277e-06, + "track": 2.6188256470049964e-06, + "acceleration": 1.1106921249393054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.057117788150208e-05, + "observation_loss": 1.0460663361300249e-05, + "chamfer": 7.802909749443643e-06, + "track": 2.657753611856606e-06, + "acceleration": 1.1051440651499433e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.060361410054611e-05, + "observation_loss": 1.0522880074859131e-05, + "chamfer": 7.842671038815752e-06, + "track": 2.680208808669704e-06, + "acceleration": 8.073379831330385e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0680402738216799e-05, + "observation_loss": 1.0602861038933042e-05, + "chamfer": 7.889934749982785e-06, + "track": 2.7129260615765816e-06, + "acceleration": 7.75414505937988e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0675506018742453e-05, + "observation_loss": 1.056009205058217e-05, + "chamfer": 7.866419764468446e-06, + "track": 2.693672740861075e-06, + "acceleration": 1.1541403210912904e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0517688679101411e-05, + "observation_loss": 1.0423196727060713e-05, + "chamfer": 7.780686246405821e-06, + "track": 2.6425109354022425e-06, + "acceleration": 9.44917317724503e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.152065376521023e-06, + "chamfer_mean": 5.498688184483551e-06, + "track_mean": 1.478780422855171e-06, + "acceleration_mean": 1.1745967767318177e-06, + "observation_score": 6.977468622437755e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.432687085998623 + }, + "score_arrays_file": "pass_scores/pass_end_0369.npz", + "score_arrays_sha256": "7cae6b54c073ce128322e43cfce06cca22da27b45f66950efd9385a99bffe5de" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0370.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0370.json new file mode 100644 index 0000000000000000000000000000000000000000..388a7ab25d3cf7c8be10fbe3e8486b582740be72 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0370.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35520, + "completed_passes": 370, + "snapshot": "pass_end_0370", + "candidate": true, + "snapshot_arrays_sha256": "c874988e46c0a7bf442cefa7d9241b45269def59f54fb0b3905d74648a620077", + "score": 6.978413196634392e-06, + "score_result": { + "score": 6.978413196634392e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8839385777246207e-06, + 3.1479221433983184e-06, + 3.20022218147642e-06, + 3.632275820564246e-06, + 4.148193056607852e-06, + 4.387001354189124e-06, + 4.149066626268905e-06, + 3.9682349779468495e-06, + 3.891701908287359e-06, + 3.963587914768141e-06, + 4.3263066800136585e-06, + 4.752380846184678e-06, + 5.038869858253747e-06, + 5.22309119332931e-06, + 5.209376013226574e-06, + 5.1012834774155635e-06, + 4.754750989377499e-06, + 4.367873316368787e-06, + 4.2199335439363495e-06, + 4.219170023134211e-06, + 4.154559974267613e-06, + 3.954359272029251e-06, + 3.850597749988083e-06, + 3.943094270653091e-06, + 4.116459422220942e-06, + 4.416637239046395e-06, + 4.747747880173847e-06, + 4.8334318307752255e-06, + 4.7693947635707445e-06, + 4.817274202650879e-06, + 5.094518201076426e-06, + 5.453051926451735e-06, + 5.8784476095752325e-06, + 6.167801075207535e-06, + 6.189594841998769e-06, + 6.12481517237029e-06, + 6.175310772960074e-06, + 6.261526323214639e-06, + 6.000698704156093e-06, + 5.6163357839977834e-06, + 5.395799234975129e-06, + 5.5768991842342075e-06, + 5.756510745413834e-06, + 5.9647018133546226e-06, + 6.061807653168216e-06, + 6.13734209764516e-06, + 6.2718499975744635e-06, + 6.692062015645206e-06, + 7.232019015646074e-06, + 7.587747404613765e-06, + 7.4834224506048486e-06, + 7.267563432833413e-06, + 7.099098183971364e-06, + 6.958337962714722e-06, + 6.971382390474901e-06, + 7.0387841333285905e-06, + 7.133259714464657e-06, + 7.224909495562315e-06, + 7.317020390473772e-06, + 7.476716746168677e-06, + 7.655994522792753e-06, + 7.854107934690546e-06, + 8.230410458054394e-06, + 8.762495781411417e-06, + 9.37861386773875e-06, + 9.735499588714447e-06, + 9.976392902899534e-06, + 1.022519154503243e-05, + 1.0339910659240559e-05, + 1.0178933735005558e-05, + 9.828155270952266e-06, + 9.624773156247102e-06, + 9.442452210350893e-06, + 9.172241334454156e-06, + 8.928430361265782e-06, + 9.080937161343172e-06, + 9.238606253347825e-06, + 9.258090358343907e-06, + 9.211791621055454e-06, + 9.20967613637913e-06, + 9.312841939390637e-06, + 9.454104656470008e-06, + 9.642349141358864e-06, + 9.905914339469746e-06, + 1.0112889867741615e-05, + 1.0196634320891462e-05, + 1.026019799610367e-05, + 1.0332649253541604e-05, + 1.0350603588449303e-05, + 1.0333137652196456e-05, + 1.038223308569286e-05, + 1.0450046829646453e-05, + 1.0511286745895632e-05, + 1.059112764778547e-05, + 1.0548601494519971e-05, + 1.0412271876703016e-05 + ] + ], + "episode_mean_losses": [ + 6.978413196634392e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8839385777246207e-06, + "observation_loss": 2.8839385777246207e-06, + "chamfer": 2.445534846629016e-06, + "track": 4.384038447824423e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1899016650859267e-05, + "observation_loss": 3.1479221433983184e-06, + "chamfer": 2.6621455617714673e-06, + "track": 4.857766953136888e-07, + "acceleration": 3.875109541695565e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3068028895067982e-05, + "observation_loss": 3.20022218147642e-06, + "chamfer": 2.710569106056937e-06, + "track": 4.896531322629016e-07, + "acceleration": 1.9867806258844212e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0090243449667469e-05, + "observation_loss": 3.632275820564246e-06, + "chamfer": 3.063952590309782e-06, + "track": 5.683233439413016e-07, + "acceleration": 6.457967629103223e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.704803697881289e-06, + "observation_loss": 4.148193056607852e-06, + "chamfer": 3.479880888335174e-06, + "track": 6.683119977424212e-07, + "acceleration": 1.5566104138997616e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.479672836372629e-06, + "observation_loss": 4.387001354189124e-06, + "chamfer": 3.670357727969531e-06, + "track": 7.166437967498496e-07, + "acceleration": 1.0926715958703426e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.727618943434209e-06, + "observation_loss": 4.149066626268905e-06, + "chamfer": 3.475220410109614e-06, + "track": 6.738464435329661e-07, + "acceleration": 5.78552317165304e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.589596755977254e-06, + "observation_loss": 3.9682349779468495e-06, + "chamfer": 3.329340415803017e-06, + "track": 6.388946758306702e-07, + "acceleration": 6.213617780304048e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.366465873317793e-06, + "observation_loss": 3.891701908287359e-06, + "chamfer": 3.2701773307053372e-06, + "track": 6.21524634425441e-07, + "acceleration": 4.747640502955619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.263443770469166e-06, + "observation_loss": 3.963587914768141e-06, + "chamfer": 3.329907713123248e-06, + "track": 6.336802016448928e-07, + "acceleration": 2.9985574201418785e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.471952706808224e-06, + "observation_loss": 4.3263066800136585e-06, + "chamfer": 3.6268086205382133e-06, + "track": 6.994980026320263e-07, + "acceleration": 1.456461831139677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.845554485655157e-06, + "observation_loss": 4.752380846184678e-06, + "chamfer": 3.969636054534931e-06, + "track": 7.827448484931665e-07, + "acceleration": 9.317360394334173e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.142523605172755e-06, + "observation_loss": 5.038869858253747e-06, + "chamfer": 4.2060346459038556e-06, + "track": 8.328353828801482e-07, + "acceleration": 1.0365371849729854e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.329271516529843e-06, + "observation_loss": 5.22309119332931e-06, + "chamfer": 4.363565494713839e-06, + "track": 8.595255280852143e-07, + "acceleration": 1.0618017398655866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.271102509141201e-06, + "observation_loss": 5.209376013226574e-06, + "chamfer": 4.355904366093455e-06, + "track": 8.534715902897005e-07, + "acceleration": 6.172665223402873e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.226382199907675e-06, + "observation_loss": 5.1012834774155635e-06, + "chamfer": 4.267461918061599e-06, + "track": 8.338215025105455e-07, + "acceleration": 1.2509872249211185e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.957286364515312e-06, + "observation_loss": 4.754750989377499e-06, + "chamfer": 3.982531325164018e-06, + "track": 7.722194936832238e-07, + "acceleration": 2.025354746137964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.715418526757276e-06, + "observation_loss": 4.367873316368787e-06, + "chamfer": 3.661608616312151e-06, + "track": 7.062646432132169e-07, + "acceleration": 3.475453240753268e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.409165285323979e-06, + "observation_loss": 4.2199335439363495e-06, + "chamfer": 3.5348161873116624e-06, + "track": 6.851171292510116e-07, + "acceleration": 1.892317698093393e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.332018761488143e-06, + "observation_loss": 4.219170023134211e-06, + "chamfer": 3.529999503371073e-06, + "track": 6.891703492328816e-07, + "acceleration": 1.1284860335081248e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.464909125090344e-06, + "observation_loss": 4.154559974267613e-06, + "chamfer": 3.4753202271531336e-06, + "track": 6.792395197408041e-07, + "acceleration": 3.1034906555760244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.345979050413007e-06, + "observation_loss": 3.954359272029251e-06, + "chamfer": 3.3108847219409654e-06, + "track": 6.4347432271461e-07, + "acceleration": 3.916196078534995e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.4600119508686475e-06, + "observation_loss": 3.850597749988083e-06, + "chamfer": 3.2282989650411764e-06, + "track": 6.222985575732309e-07, + "acceleration": 6.094141440371459e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.607485152519075e-06, + "observation_loss": 3.943094270653091e-06, + "chamfer": 3.299365744169336e-06, + "track": 6.437285833271744e-07, + "acceleration": 6.643907113357272e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.480325515032746e-06, + "observation_loss": 4.116459422220942e-06, + "chamfer": 3.4260167467436986e-06, + "track": 6.904424481035676e-07, + "acceleration": 3.63866206498642e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.700149929703912e-06, + "observation_loss": 4.416637239046395e-06, + "chamfer": 3.6532637750497088e-06, + "track": 7.633735208401049e-07, + "acceleration": 2.8351260539238865e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.1146976147720125e-06, + "observation_loss": 4.747747880173847e-06, + "chamfer": 3.907435257133329e-06, + "track": 8.403125093536801e-07, + "acceleration": 3.6694981986329367e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.370769940782338e-06, + "observation_loss": 4.8334318307752255e-06, + "chamfer": 3.975253548560431e-06, + "track": 8.581782253713754e-07, + "acceleration": 5.37338053163694e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.360811428545276e-06, + "observation_loss": 4.7693947635707445e-06, + "chamfer": 3.919024948118022e-06, + "track": 8.503698722961417e-07, + "acceleration": 5.914165512876934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.089254955237266e-06, + "observation_loss": 4.817274202650879e-06, + "chamfer": 3.962052687711548e-06, + "track": 8.552212875656551e-07, + "acceleration": 2.719807525863871e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.273649549053516e-06, + "observation_loss": 5.094518201076426e-06, + "chamfer": 4.191653715679422e-06, + "track": 9.028645422404225e-07, + "acceleration": 1.7913156113991135e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.585905000771163e-06, + "observation_loss": 5.453051926451735e-06, + "chamfer": 4.470656676858198e-06, + "track": 9.823951359066996e-07, + "acceleration": 1.3285287536746182e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.960836460872088e-06, + "observation_loss": 5.8784476095752325e-06, + "chamfer": 4.8102529035531916e-06, + "track": 1.0681945923352032e-06, + "acceleration": 8.23889578782655e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.345065685309237e-06, + "observation_loss": 6.167801075207535e-06, + "chamfer": 5.030124157201499e-06, + "track": 1.1376771453797119e-06, + "acceleration": 1.7726456746913755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.391561328200623e-06, + "observation_loss": 6.189594841998769e-06, + "chamfer": 5.0546855163702276e-06, + "track": 1.1349093256285414e-06, + "acceleration": 2.019663725150167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.314982783806045e-06, + "observation_loss": 6.12481517237029e-06, + "chamfer": 5.004892045690212e-06, + "track": 1.1199232403669157e-06, + "acceleration": 1.9016752617062593e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.27711142442422e-06, + "observation_loss": 6.175310772960074e-06, + "chamfer": 5.029551630286733e-06, + "track": 1.1457589152996661e-06, + "acceleration": 1.018005235664532e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.67576659907354e-06, + "observation_loss": 6.261526323214639e-06, + "chamfer": 5.0945945986313745e-06, + "track": 1.1669319519569399e-06, + "acceleration": 4.142401621720637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.471633241744712e-06, + "observation_loss": 6.000698704156093e-06, + "chamfer": 4.901507509202929e-06, + "track": 1.0991914223268395e-06, + "acceleration": 4.709347081188753e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 6.0400984693842474e-06, + "observation_loss": 5.6163357839977834e-06, + "chamfer": 4.598020950652426e-06, + "track": 1.0183147196585196e-06, + "acceleration": 4.237625148562074e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.82245365876588e-06, + "observation_loss": 5.395799234975129e-06, + "chamfer": 4.4178523239679635e-06, + "track": 9.779471383808414e-07, + "acceleration": 4.2665462274271704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.057518476154655e-06, + "observation_loss": 5.5768991842342075e-06, + "chamfer": 4.539459496299969e-06, + "track": 1.0374398016210762e-06, + "acceleration": 4.806194624507043e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.263246177695692e-06, + "observation_loss": 5.756510745413834e-06, + "chamfer": 4.657502813643077e-06, + "track": 1.0990080454575946e-06, + "acceleration": 5.067354891252762e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.609619049413595e-06, + "observation_loss": 5.9647018133546226e-06, + "chamfer": 4.810575774172321e-06, + "track": 1.154126266555977e-06, + "acceleration": 6.449172360589728e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.3359151429031044e-06, + "observation_loss": 6.061807653168216e-06, + "chamfer": 4.886003353021806e-06, + "track": 1.1758040727727348e-06, + "acceleration": 1.2741076034217258e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.71467875892995e-06, + "observation_loss": 6.13734209764516e-06, + "chamfer": 4.942848590872018e-06, + "track": 1.1944935067731421e-06, + "acceleration": 1.5773368886584649e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.0561354732490145e-06, + "observation_loss": 6.2718499975744635e-06, + "chamfer": 5.045549187343568e-06, + "track": 1.2263010376045713e-06, + "acceleration": 7.842852483008755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.749687938485295e-06, + "observation_loss": 6.692062015645206e-06, + "chamfer": 5.365155175240943e-06, + "track": 1.326906726717425e-06, + "acceleration": 1.0576255817795754e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.807227120792959e-06, + "observation_loss": 7.232019015646074e-06, + "chamfer": 5.751457138103433e-06, + "track": 1.4805619912294787e-06, + "acceleration": 5.752083325205604e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.197072929760907e-06, + "observation_loss": 7.587747404613765e-06, + "chamfer": 6.012241556163644e-06, + "track": 1.5755057347632828e-06, + "acceleration": 6.093253546168853e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.486453225486912e-06, + "observation_loss": 7.4834224506048486e-06, + "chamfer": 5.9438220887386706e-06, + "track": 1.5396004755530157e-06, + "acceleration": 1.0030311159425764e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.063508175837342e-06, + "observation_loss": 7.267563432833413e-06, + "chamfer": 5.792682713945396e-06, + "track": 1.4748807188880164e-06, + "acceleration": 7.959448566907668e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.507373084081337e-06, + "observation_loss": 7.099098183971364e-06, + "chamfer": 5.663067895511631e-06, + "track": 1.4360300610860577e-06, + "acceleration": 4.0827467273629736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.127027402020758e-06, + "observation_loss": 6.958337962714722e-06, + "chamfer": 5.5562795751029626e-06, + "track": 1.4020585012985975e-06, + "acceleration": 1.6868933983005263e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.152361831685994e-06, + "observation_loss": 6.971382390474901e-06, + "chamfer": 5.562362730415771e-06, + "track": 1.4090197737459675e-06, + "acceleration": 1.8097966858476866e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.187874871306121e-06, + "observation_loss": 7.0387841333285905e-06, + "chamfer": 5.602686542260926e-06, + "track": 1.4360974773808266e-06, + "acceleration": 1.4909080903180438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.214070592453936e-06, + "observation_loss": 7.133259714464657e-06, + "chamfer": 5.669923666573595e-06, + "track": 1.4633360478910618e-06, + "acceleration": 8.08107287753046e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.427285254379967e-06, + "observation_loss": 7.224909495562315e-06, + "chamfer": 5.725165465264581e-06, + "track": 1.4997439166108961e-06, + "acceleration": 2.0237565934166923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.913656190794427e-06, + "observation_loss": 7.317020390473772e-06, + "chamfer": 5.7950846894527785e-06, + "track": 1.5219357010209933e-06, + "acceleration": 5.966360845377494e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.743225407670252e-06, + "observation_loss": 7.476716746168677e-06, + "chamfer": 5.903689725528238e-06, + "track": 1.5730272480141139e-06, + "acceleration": 1.266508775188413e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.481609595241025e-06, + "observation_loss": 7.655994522792753e-06, + "chamfer": 6.041502274456434e-06, + "track": 1.6144919072758057e-06, + "acceleration": 1.825614731387759e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.964258995547425e-06, + "observation_loss": 7.854107934690546e-06, + "chamfer": 6.194612979015801e-06, + "track": 1.6594948419879074e-06, + "acceleration": 1.1101511745437165e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.692090887052473e-06, + "observation_loss": 8.230410458054394e-06, + "chamfer": 6.463567387982039e-06, + "track": 1.7668430700723547e-06, + "acceleration": 4.6168023004611314e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.076151400222443e-06, + "observation_loss": 8.762495781411417e-06, + "chamfer": 6.827532160968985e-06, + "track": 1.9349631656950805e-06, + "acceleration": 3.1365576091957337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.493906873103697e-06, + "observation_loss": 9.37861386773875e-06, + "chamfer": 7.246961558848852e-06, + "track": 2.131652536263573e-06, + "acceleration": 1.1529314747349417e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.827940630202647e-06, + "observation_loss": 9.735499588714447e-06, + "chamfer": 7.4906561167153995e-06, + "track": 2.244843244625372e-06, + "acceleration": 9.244067200597783e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0269796803186182e-05, + "observation_loss": 9.976392902899534e-06, + "chamfer": 7.656853995285928e-06, + "track": 2.3195391349872807e-06, + "acceleration": 2.934035876478447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0416684744996019e-05, + "observation_loss": 1.022519154503243e-05, + "chamfer": 7.8082230174914e-06, + "track": 2.41696852754103e-06, + "acceleration": 1.9149291574649396e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0474082955624908e-05, + "observation_loss": 1.0339910659240559e-05, + "chamfer": 7.87681437941501e-06, + "track": 2.463096052451874e-06, + "acceleration": 1.3417253796887962e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0573088729870506e-05, + "observation_loss": 1.0178933735005558e-05, + "chamfer": 7.763887879264075e-06, + "track": 2.4150460831151577e-06, + "acceleration": 3.9415476749127265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.083687584468862e-05, + "observation_loss": 9.828155270952266e-06, + "chamfer": 7.543691481259884e-06, + "track": 2.284463562318706e-06, + "acceleration": 1.0087208011100302e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0255881534249056e-05, + "observation_loss": 9.624773156247102e-06, + "chamfer": 7.398419711535098e-06, + "track": 2.226352989964653e-06, + "acceleration": 6.311086622190487e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.693859283288475e-06, + "observation_loss": 9.442452210350893e-06, + "chamfer": 7.268469744303729e-06, + "track": 2.173982466047164e-06, + "acceleration": 2.514067318770685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.420742571819574e-06, + "observation_loss": 9.172241334454156e-06, + "chamfer": 7.068823833833449e-06, + "track": 2.1034172732470324e-06, + "acceleration": 2.4850100999174174e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.105402568820864e-06, + "observation_loss": 8.928430361265782e-06, + "chamfer": 6.89327407599194e-06, + "track": 2.035156512647518e-06, + "acceleration": 1.769724065070477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.600118573871441e-06, + "observation_loss": 9.080937161343172e-06, + "chamfer": 6.997742275416385e-06, + "track": 2.0831946585531114e-06, + "acceleration": 5.19181412528269e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2684135981544387e-05, + "observation_loss": 9.238606253347825e-06, + "chamfer": 7.0697974479116965e-06, + "track": 2.1688088054361288e-06, + "acceleration": 3.445529500822886e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.286925544263795e-05, + "observation_loss": 9.258090358343907e-06, + "chamfer": 7.103100415406516e-06, + "track": 2.154989942937391e-06, + "acceleration": 3.611165311667719e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.1053772141167428e-05, + "observation_loss": 9.211791621055454e-06, + "chamfer": 7.050050953694154e-06, + "track": 2.1617402126139496e-06, + "acceleration": 1.8419801790514612e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0850609214685392e-05, + "observation_loss": 9.20967613637913e-06, + "chamfer": 7.035291218926432e-06, + "track": 2.174385144826374e-06, + "acceleration": 1.6409329646194237e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0091807780554518e-05, + "observation_loss": 9.312841939390637e-06, + "chamfer": 7.104593805706827e-06, + "track": 2.2082479063101346e-06, + "acceleration": 7.789661822243943e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.789489922695793e-06, + "observation_loss": 9.454104656470008e-06, + "chamfer": 7.178139640018344e-06, + "track": 2.2759645617043134e-06, + "acceleration": 3.3538566412971704e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.73789155978011e-06, + "observation_loss": 9.642349141358864e-06, + "chamfer": 7.301076948351692e-06, + "track": 2.341272193007171e-06, + "acceleration": 9.554270974376777e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 1.0002207091019955e-05, + "observation_loss": 9.905914339469746e-06, + "chamfer": 7.483260105800582e-06, + "track": 2.4226537789218128e-06, + "acceleration": 9.629304287273044e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0222827768302523e-05, + "observation_loss": 1.0112889867741615e-05, + "chamfer": 7.625249054399319e-06, + "track": 2.4876408133422956e-06, + "acceleration": 1.0993801424774574e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0292386832588818e-05, + "observation_loss": 1.0196634320891462e-05, + "chamfer": 7.67173150961753e-06, + "track": 2.524902583900257e-06, + "acceleration": 9.57522701128255e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.041979885485489e-05, + "observation_loss": 1.026019799610367e-05, + "chamfer": 7.71062150306534e-06, + "track": 2.5495764930383302e-06, + "acceleration": 1.596008019077999e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0492036381037906e-05, + "observation_loss": 1.0332649253541604e-05, + "chamfer": 7.746502888039686e-06, + "track": 2.5861461381282425e-06, + "acceleration": 1.5938735486997757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.042234907799866e-05, + "observation_loss": 1.0350603588449303e-05, + "chamfer": 7.752103556413203e-06, + "track": 2.5985000320360996e-06, + "acceleration": 7.174571692303289e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0540567927819211e-05, + "observation_loss": 1.0333137652196456e-05, + "chamfer": 7.740242836007383e-06, + "track": 2.592894816189073e-06, + "acceleration": 2.0743043194215716e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0493556146684568e-05, + "observation_loss": 1.038223308569286e-05, + "chamfer": 7.766901035211049e-06, + "track": 2.6153318231081357e-06, + "acceleration": 1.1132298993743461e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0560775990597904e-05, + "observation_loss": 1.0450046829646453e-05, + "chamfer": 7.7960648923181e-06, + "track": 2.653982164702029e-06, + "acceleration": 1.1072931016542498e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0592309081403073e-05, + "observation_loss": 1.0511286745895632e-05, + "chamfer": 7.835256838006899e-06, + "track": 2.6760296805150574e-06, + "acceleration": 8.102252735397997e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0668731192708947e-05, + "observation_loss": 1.059112764778547e-05, + "chamfer": 7.882437785156071e-06, + "track": 2.7086896352557233e-06, + "acceleration": 7.760340992035708e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0663668945198879e-05, + "observation_loss": 1.0548601494519971e-05, + "chamfer": 7.859149263822474e-06, + "track": 2.689452458071173e-06, + "acceleration": 1.150670883021121e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0505805221328046e-05, + "observation_loss": 1.0412271876703016e-05, + "chamfer": 7.773724973958451e-06, + "track": 2.6385471301182406e-06, + "acceleration": 9.353348673357686e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.142472665895184e-06, + "chamfer_mean": 5.499458850977135e-06, + "track_mean": 1.4789543089458828e-06, + "acceleration_mean": 1.164059476588264e-06, + "observation_score": 6.978413196634392e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4299099210002169 + }, + "score_arrays_file": "pass_scores/pass_end_0370.npz", + "score_arrays_sha256": "002b1473d9bdd26c8fd517f6ebc777a3cd185484f631c519fe73fb47db1d2da5" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0371.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0371.json new file mode 100644 index 0000000000000000000000000000000000000000..cba84b812dd9cc1bfcd48bfdff2f907d2e82da1d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0371.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35616, + "completed_passes": 371, + "snapshot": "pass_end_0371", + "candidate": true, + "snapshot_arrays_sha256": "7e7d4c4884424cdf61fc422ad41b3649a6dcca4427ffe34e3e1bd0f605faff39", + "score": 6.976278359142422e-06, + "score_result": { + "score": 6.976278359142422e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8842755455116276e-06, + 3.1475815376325045e-06, + 3.1991683044907404e-06, + 3.6310725590738002e-06, + 4.146470473642694e-06, + 4.385363354231231e-06, + 4.1477815102552995e-06, + 3.9666651900915895e-06, + 3.8899029277672525e-06, + 3.96140239899978e-06, + 4.32393244409468e-06, + 4.749411800730741e-06, + 5.035379672335694e-06, + 5.2193481678841636e-06, + 5.205374236538773e-06, + 5.097087978356285e-06, + 4.750480002257973e-06, + 4.3635159272525925e-06, + 4.216211891616695e-06, + 4.21514778281562e-06, + 4.14972100770683e-06, + 3.948703124478925e-06, + 3.845682840619702e-06, + 3.9405504139722325e-06, + 4.116374384466326e-06, + 4.418149273988092e-06, + 4.747503680846421e-06, + 4.830859325011261e-06, + 4.767474820255302e-06, + 4.817149147129385e-06, + 5.095344931760337e-06, + 5.456372946355259e-06, + 5.883158337383065e-06, + 6.173168003442697e-06, + 6.1935902522236574e-06, + 6.128341738076415e-06, + 6.177686373121105e-06, + 6.262319402594585e-06, + 6.001549081702251e-06, + 5.617045644612517e-06, + 5.3939374993206e-06, + 5.572759619099088e-06, + 5.752698143624002e-06, + 5.959233021712862e-06, + 6.057579412299674e-06, + 6.135343483038014e-06, + 6.270523044804577e-06, + 6.68924258206971e-06, + 7.226450179587118e-06, + 7.5864636528422125e-06, + 7.480964541173307e-06, + 7.26526377547998e-06, + 7.098572041286388e-06, + 6.957677214813884e-06, + 6.973287781875115e-06, + 7.041141543595586e-06, + 7.135614850994898e-06, + 7.227418336697156e-06, + 7.320900294871535e-06, + 7.48135062167421e-06, + 7.662782991246786e-06, + 7.862278835091274e-06, + 8.239240742113907e-06, + 8.772507499088533e-06, + 9.389511433255393e-06, + 9.747391231940128e-06, + 9.988987585529685e-06, + 1.0237957212666515e-05, + 1.0351037417422049e-05, + 1.0187956831941847e-05, + 9.83554491540417e-06, + 9.630804015614558e-06, + 9.447140655538533e-06, + 9.176133971777745e-06, + 8.931166121328715e-06, + 9.08068977878429e-06, + 9.233492164639756e-06, + 9.251858500647359e-06, + 9.204625712300185e-06, + 9.199598025588784e-06, + 9.300949386670254e-06, + 9.443549970455933e-06, + 9.629679880163167e-06, + 9.892788511933759e-06, + 1.009889820124954e-05, + 1.0183635822613724e-05, + 1.024705488816835e-05, + 1.03196689451579e-05, + 1.033763874147553e-05, + 1.0318580279999878e-05, + 1.0365998605266213e-05, + 1.043249540089164e-05, + 1.0493302397662774e-05, + 1.057204462995287e-05, + 1.0529525752644986e-05, + 1.0393465345259756e-05 + ] + ], + "episode_mean_losses": [ + 6.976278359142422e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8842755455116276e-06, + "observation_loss": 2.8842755455116276e-06, + "chamfer": 2.4458024654450128e-06, + "track": 4.384730800666148e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.191301923128776e-05, + "observation_loss": 3.1475815376325045e-06, + "chamfer": 2.66185702457733e-06, + "track": 4.857244562117558e-07, + "acceleration": 3.8765436329413205e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3072661861078814e-05, + "observation_loss": 3.1991683044907404e-06, + "chamfer": 2.709689397306647e-06, + "track": 4.894789640275121e-07, + "acceleration": 1.98734942387091e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0092412594531197e-05, + "observation_loss": 3.6310725590738002e-06, + "chamfer": 3.0629546472482616e-06, + "track": 5.681180255123763e-07, + "acceleration": 6.461340035457397e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.707972832169617e-06, + "observation_loss": 4.146470473642694e-06, + "chamfer": 3.478471626294777e-06, + "track": 6.679986768176605e-07, + "acceleration": 1.561502244840085e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.479202172864461e-06, + "observation_loss": 4.385363354231231e-06, + "chamfer": 3.6690364595415303e-06, + "track": 7.163270083765383e-07, + "acceleration": 1.0938387049463927e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.724155587609857e-06, + "observation_loss": 4.1477815102552995e-06, + "chamfer": 3.474160621408373e-06, + "track": 6.73620661473251e-07, + "acceleration": 5.763741910413955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.586763679981232e-06, + "observation_loss": 3.9666651900915895e-06, + "chamfer": 3.3280334719165694e-06, + "track": 6.386317181750201e-07, + "acceleration": 6.200985467330611e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.363505922810873e-06, + "observation_loss": 3.8899029277672525e-06, + "chamfer": 3.268668478995096e-06, + "track": 6.212346193024132e-07, + "acceleration": 4.7360288135678275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.260568857716862e-06, + "observation_loss": 3.96140239899978e-06, + "chamfer": 3.3280844036198687e-06, + "track": 6.333179953799117e-07, + "acceleration": 2.991666576690477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.469297891773749e-06, + "observation_loss": 4.32393244409468e-06, + "chamfer": 3.6248527521820506e-06, + "track": 6.990796350692108e-07, + "acceleration": 1.453654476790689e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.842644557356834e-06, + "observation_loss": 4.749411800730741e-06, + "chamfer": 3.967211341660004e-06, + "track": 7.822003453838988e-07, + "acceleration": 9.323282057493998e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.139074346516281e-06, + "observation_loss": 5.035379672335694e-06, + "chamfer": 4.203192929708166e-06, + "track": 8.321867994709464e-07, + "acceleration": 1.0369458891545946e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.325396159605589e-06, + "observation_loss": 5.2193481678841636e-06, + "chamfer": 4.360525508673163e-06, + "track": 8.588225455241627e-07, + "acceleration": 1.0604779987488655e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.267097549221944e-06, + "observation_loss": 5.205374236538773e-06, + "chamfer": 4.352635642135283e-06, + "track": 8.527385375600716e-07, + "acceleration": 6.172308530949522e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.2221203077351674e-06, + "observation_loss": 5.097087978356285e-06, + "chamfer": 4.264031304046512e-06, + "track": 8.330565606229356e-07, + "acceleration": 1.2503252833084844e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.952808922098484e-06, + "observation_loss": 4.750480002257973e-06, + "chamfer": 3.979016128141666e-06, + "track": 7.714637604294694e-07, + "acceleration": 2.0232883457538264e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.711194833362242e-06, + "observation_loss": 4.3635159272525925e-06, + "chamfer": 3.657991101135849e-06, + "track": 7.055248829601624e-07, + "acceleration": 3.4767884926623083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.4054995669284835e-06, + "observation_loss": 4.216211891616695e-06, + "chamfer": 3.5317116271471605e-06, + "track": 6.845004349997907e-07, + "acceleration": 1.8928778899862664e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.327042006480042e-06, + "observation_loss": 4.21514778281562e-06, + "chamfer": 3.5266587019577855e-06, + "track": 6.884890808578348e-07, + "acceleration": 1.118941881372848e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.459559932001866e-06, + "observation_loss": 4.14972100770683e-06, + "chamfer": 3.4712968499661656e-06, + "track": 6.784241577406647e-07, + "acceleration": 3.098390095601644e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.339140559750376e-06, + "observation_loss": 3.948703124478925e-06, + "chamfer": 3.3061494377761846e-06, + "track": 6.42553857232997e-07, + "acceleration": 3.9043735000632296e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.442707449925365e-06, + "observation_loss": 3.845682840619702e-06, + "chamfer": 3.2241355256701354e-06, + "track": 6.215472012627288e-07, + "acceleration": 5.970244387754065e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.590490789269097e-06, + "observation_loss": 3.9405504139722325e-06, + "chamfer": 3.297170223959256e-06, + "track": 6.433803605432331e-07, + "acceleration": 6.499403752968647e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.479151812120108e-06, + "observation_loss": 4.116374384466326e-06, + "chamfer": 3.425873728701845e-06, + "track": 6.905007126078999e-07, + "acceleration": 3.627773423886538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.702543265011627e-06, + "observation_loss": 4.418149273988092e-06, + "chamfer": 3.6543876831274247e-06, + "track": 7.637614203304111e-07, + "acceleration": 2.843941615537915e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.117744876770303e-06, + "observation_loss": 4.747503680846421e-06, + "chamfer": 3.90733794120024e-06, + "track": 8.40165910176438e-07, + "acceleration": 3.70241025393625e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.382614745030878e-06, + "observation_loss": 4.830859325011261e-06, + "chamfer": 3.97343183067278e-06, + "track": 8.57427380651643e-07, + "acceleration": 5.517553631761984e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3593344091495965e-06, + "observation_loss": 4.767474820255302e-06, + "chamfer": 3.91756202589022e-06, + "track": 8.499125669914065e-07, + "acceleration": 5.918597025811323e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.086145847599255e-06, + "observation_loss": 4.817149147129385e-06, + "chamfer": 3.9617948459635954e-06, + "track": 8.55354471696046e-07, + "acceleration": 2.6899672889157955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.26770099895657e-06, + "observation_loss": 5.095344931760337e-06, + "chamfer": 4.192138931102818e-06, + "track": 9.032059438141005e-07, + "acceleration": 1.7235619509392563e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.5822224567236844e-06, + "observation_loss": 5.456372946355259e-06, + "chamfer": 4.473079570743721e-06, + "track": 9.832932619247003e-07, + "acceleration": 1.2584939668158768e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.963857347524026e-06, + "observation_loss": 5.883158337383065e-06, + "chamfer": 4.813585292140488e-06, + "track": 1.0695730452425778e-06, + "acceleration": 8.069891777040539e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.3482111727353185e-06, + "observation_loss": 6.173168003442697e-06, + "chamfer": 5.033937668486033e-06, + "track": 1.1392301075829891e-06, + "acceleration": 1.7504294191894587e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.393482181010768e-06, + "observation_loss": 6.1935902522236574e-06, + "chamfer": 5.0574817578308284e-06, + "track": 1.1361086080796667e-06, + "acceleration": 1.9989190036540094e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.316046892607119e-06, + "observation_loss": 6.128341738076415e-06, + "chamfer": 5.0076514526153915e-06, + "track": 1.1206901717741857e-06, + "acceleration": 1.8770525400668703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.274034603848122e-06, + "observation_loss": 6.177686373121105e-06, + "chamfer": 5.031660748500144e-06, + "track": 1.146025624620961e-06, + "acceleration": 9.634828046500843e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.665089131274726e-06, + "observation_loss": 6.262319402594585e-06, + "chamfer": 5.095514552522218e-06, + "track": 1.1668046226986917e-06, + "acceleration": 4.027699560538167e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.445693543355446e-06, + "observation_loss": 6.001549081702251e-06, + "chamfer": 4.902336513623595e-06, + "track": 1.0992125680786557e-06, + "acceleration": 4.4414437638806703e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.993828381178901e-06, + "observation_loss": 5.617045644612517e-06, + "chamfer": 4.598765826813178e-06, + "track": 1.0182797041125013e-06, + "acceleration": 3.767827649880928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.777349997515557e-06, + "observation_loss": 5.3939374993206e-06, + "chamfer": 4.416454885358689e-06, + "track": 9.774825002750731e-07, + "acceleration": 3.834126118817949e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 6.0094253058196045e-06, + "observation_loss": 5.572759619099088e-06, + "chamfer": 4.536231699603377e-06, + "track": 1.0365280331825488e-06, + "acceleration": 4.366655730336788e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.2202534536481835e-06, + "observation_loss": 5.752698143624002e-06, + "chamfer": 4.654252734326292e-06, + "track": 1.0984454092977103e-06, + "acceleration": 4.6755528160247195e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.549353201990016e-06, + "observation_loss": 5.959233021712862e-06, + "chamfer": 4.806110609933967e-06, + "track": 1.1531224117788952e-06, + "acceleration": 5.90120123433735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.214771812869003e-06, + "observation_loss": 6.057579412299674e-06, + "chamfer": 4.882622761215316e-06, + "track": 1.1749564237106824e-06, + "acceleration": 1.1571922868824913e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.637624548806343e-06, + "observation_loss": 6.135343483038014e-06, + "chamfer": 4.941327915730653e-06, + "track": 1.1940155673073605e-06, + "acceleration": 1.5022810657683294e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.049543455650564e-06, + "observation_loss": 6.270523044804577e-06, + "chamfer": 5.04438094139914e-06, + "track": 1.2261422170922742e-06, + "acceleration": 7.790203540025686e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.783219189150259e-06, + "observation_loss": 6.68924258206971e-06, + "chamfer": 5.36286552232923e-06, + "track": 1.3263768323668046e-06, + "acceleration": 1.093976607080549e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.87702538218582e-06, + "observation_loss": 7.226450179587118e-06, + "chamfer": 5.747416707890807e-06, + "track": 1.479033699069987e-06, + "acceleration": 6.505755436592153e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.203628567571286e-06, + "observation_loss": 7.5864636528422125e-06, + "chamfer": 6.0113202380307484e-06, + "track": 1.5751436421851395e-06, + "acceleration": 6.171646873553982e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.481628356094006e-06, + "observation_loss": 7.480964541173307e-06, + "chamfer": 5.942077223153319e-06, + "track": 1.538887318019988e-06, + "acceleration": 1.000663928607537e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.176199116860516e-06, + "observation_loss": 7.26526377547998e-06, + "chamfer": 5.7912398006010335e-06, + "track": 1.4740237475052709e-06, + "acceleration": 9.109350003200234e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.462932444468606e-06, + "observation_loss": 7.098572041286388e-06, + "chamfer": 5.662835974362679e-06, + "track": 1.4357361806105473e-06, + "acceleration": 3.6436020423025184e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.122550869098632e-06, + "observation_loss": 6.957677214813884e-06, + "chamfer": 5.555905318033183e-06, + "track": 1.4017717830938636e-06, + "acceleration": 1.6487375376073032e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1418999141315e-06, + "observation_loss": 6.973287781875115e-06, + "chamfer": 5.56413715457893e-06, + "track": 1.4091503999225097e-06, + "acceleration": 1.6861226015407738e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.195496891654329e-06, + "observation_loss": 7.041141543595586e-06, + "chamfer": 5.604650596069405e-06, + "track": 1.4364909475261811e-06, + "acceleration": 1.5435517752848682e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.209252544271294e-06, + "observation_loss": 7.135614850994898e-06, + "chamfer": 5.6719613894529175e-06, + "track": 1.4636533478551428e-06, + "acceleration": 7.363748721900265e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.4242643677280284e-06, + "observation_loss": 7.227418336697156e-06, + "chamfer": 5.727253665099852e-06, + "track": 1.5001647852841415e-06, + "acceleration": 1.9684601682001812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.916206413938198e-06, + "observation_loss": 7.320900294871535e-06, + "chamfer": 5.79815332457656e-06, + "track": 1.522746856608137e-06, + "acceleration": 5.953058916929876e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.751635505177546e-06, + "observation_loss": 7.48135062167421e-06, + "chamfer": 5.907405011384981e-06, + "track": 1.5739454966023914e-06, + "acceleration": 1.270284656129661e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.496661732555367e-06, + "observation_loss": 7.662782991246786e-06, + "chamfer": 6.046720955055207e-06, + "track": 1.6160623772520921e-06, + "acceleration": 1.833879196055932e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.976050594355911e-06, + "observation_loss": 7.862278835091274e-06, + "chamfer": 6.200764801178593e-06, + "track": 1.6615142612863565e-06, + "acceleration": 1.1137719866383122e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.70203166414285e-06, + "observation_loss": 8.239240742113907e-06, + "chamfer": 6.469993422797415e-06, + "track": 1.7692474330033292e-06, + "acceleration": 4.62790666233559e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.08547099243151e-06, + "observation_loss": 8.772507499088533e-06, + "chamfer": 6.834804480604362e-06, + "track": 1.937702791110496e-06, + "acceleration": 3.1296391966861847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.504028639639728e-06, + "observation_loss": 9.389511433255393e-06, + "chamfer": 7.2546554292785e-06, + "track": 2.134856231350568e-06, + "acceleration": 1.1451720638433471e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.839379345066845e-06, + "observation_loss": 9.747391231940128e-06, + "chamfer": 7.499010280298535e-06, + "track": 2.2483811790152686e-06, + "acceleration": 9.198768680107605e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0282059520250186e-05, + "observation_loss": 9.988987585529685e-06, + "chamfer": 7.665554221603088e-06, + "track": 2.3234331365529215e-06, + "acceleration": 2.9307162208169757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0428242603666149e-05, + "observation_loss": 1.0237957212666515e-05, + "chamfer": 7.817067853466142e-06, + "track": 2.4208893592003733e-06, + "acceleration": 1.9028539099963382e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0482591278559994e-05, + "observation_loss": 1.0351037417422049e-05, + "chamfer": 7.884548722358886e-06, + "track": 2.466488467689487e-06, + "acceleration": 1.3155415956589422e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0577894499874674e-05, + "observation_loss": 1.0187956831941847e-05, + "chamfer": 7.770153388264589e-06, + "track": 2.4178032163035823e-06, + "acceleration": 3.899380089933402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0841039511433337e-05, + "observation_loss": 9.83554491540417e-06, + "chamfer": 7.548720077465987e-06, + "track": 2.286824383190833e-06, + "acceleration": 1.0054949370896793e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0262462637911085e-05, + "observation_loss": 9.630804015614558e-06, + "chamfer": 7.4025515459652524e-06, + "track": 2.228252697022981e-06, + "acceleration": 6.316585086096893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.699086149339564e-06, + "observation_loss": 9.447140655538533e-06, + "chamfer": 7.271563845279161e-06, + "track": 2.1755765828856966e-06, + "acceleration": 2.5194509589709924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.428018529433757e-06, + "observation_loss": 9.176133971777745e-06, + "chamfer": 7.071418622217607e-06, + "track": 2.104714894812787e-06, + "acceleration": 2.518844723908842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.10700146050658e-06, + "observation_loss": 8.931166121328715e-06, + "chamfer": 6.894844318594551e-06, + "track": 2.03632203010784e-06, + "acceleration": 1.7583575129265228e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.554367352393456e-06, + "observation_loss": 9.08068977878429e-06, + "chamfer": 6.998172011662973e-06, + "track": 2.082517312373966e-06, + "acceleration": 4.736776020308753e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2764042367052753e-05, + "observation_loss": 9.233492164639756e-06, + "chamfer": 7.06590572008281e-06, + "track": 2.167586444556946e-06, + "acceleration": 3.530550429786672e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.2968972441740334e-05, + "observation_loss": 9.251858500647359e-06, + "chamfer": 7.0980227064865176e-06, + "track": 2.153836248908192e-06, + "acceleration": 3.717114168466651e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.1074638678110205e-05, + "observation_loss": 9.204625712300185e-06, + "chamfer": 7.0451847022923175e-06, + "track": 2.159440782634192e-06, + "acceleration": 1.8700129658100195e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0842933079402428e-05, + "observation_loss": 9.199598025588784e-06, + "chamfer": 7.027736501186155e-06, + "track": 2.171861751776305e-06, + "acceleration": 1.6433347127531306e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0067979019368067e-05, + "observation_loss": 9.300949386670254e-06, + "chamfer": 7.096255103533622e-06, + "track": 2.2046945105103077e-06, + "acceleration": 7.670296895412321e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.76995852397522e-06, + "observation_loss": 9.443549970455933e-06, + "chamfer": 7.171430752350716e-06, + "track": 2.2721192181052174e-06, + "acceleration": 3.2640838298902963e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.724220035423059e-06, + "observation_loss": 9.629679880163167e-06, + "chamfer": 7.292943337233737e-06, + "track": 2.336736315555754e-06, + "acceleration": 9.454052474211494e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 9.987513294618111e-06, + "observation_loss": 9.892788511933759e-06, + "chamfer": 7.474862741219113e-06, + "track": 2.4179253159672953e-06, + "acceleration": 9.472442741298437e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0209204447164666e-05, + "observation_loss": 1.009889820124954e-05, + "chamfer": 7.616083166794851e-06, + "track": 2.4828150344546884e-06, + "acceleration": 1.1030629565311756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0278821719111875e-05, + "observation_loss": 1.0183635822613724e-05, + "chamfer": 7.663286851311568e-06, + "track": 2.5203494260495063e-06, + "acceleration": 9.518561228105682e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0404656677565072e-05, + "observation_loss": 1.024705488816835e-05, + "chamfer": 7.702038601564709e-06, + "track": 2.5450162866036408e-06, + "acceleration": 1.5760217308979918e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.047485329763731e-05, + "observation_loss": 1.03196689451579e-05, + "chamfer": 7.737920896033756e-06, + "track": 2.581747594376793e-06, + "acceleration": 1.5518426721428114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.040753340930678e-05, + "observation_loss": 1.033763874147553e-05, + "chamfer": 7.743747119093314e-06, + "track": 2.5938911676348653e-06, + "acceleration": 6.98947246746684e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0525875950406771e-05, + "observation_loss": 1.0318580279999878e-05, + "chamfer": 7.730724064458627e-06, + "track": 2.5878559881675756e-06, + "acceleration": 2.0729569882860233e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0479221600689925e-05, + "observation_loss": 1.0365998605266213e-05, + "chamfer": 7.756412742310204e-06, + "track": 2.60958586295601e-06, + "acceleration": 1.1322332937879764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0544126780587249e-05, + "observation_loss": 1.043249540089164e-05, + "chamfer": 7.78469711804064e-06, + "track": 2.6477987375983503e-06, + "acceleration": 1.1163145074988279e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0574800398899242e-05, + "observation_loss": 1.0493302397662774e-05, + "chamfer": 7.82374081609305e-06, + "track": 2.6695620363170747e-06, + "acceleration": 8.149829255899022e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.065015203494113e-05, + "observation_loss": 1.057204462995287e-05, + "chamfer": 7.870045010349713e-06, + "track": 2.701999619603157e-06, + "acceleration": 7.810760394022509e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.064444768417161e-05, + "observation_loss": 1.0529525752644986e-05, + "chamfer": 7.846799235267099e-06, + "track": 2.6827267447515624e-06, + "acceleration": 1.1492149809555485e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0485406164661981e-05, + "observation_loss": 1.0393465345259756e-05, + "chamfer": 7.76157139625866e-06, + "track": 2.6318934942537453e-06, + "acceleration": 9.194068439910552e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.138607502890713e-06, + "chamfer_mean": 5.498004521579484e-06, + "track_mean": 1.478273812693942e-06, + "acceleration_mean": 1.1623291343484017e-06, + "observation_score": 6.976278359142422e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4302886109999235 + }, + "score_arrays_file": "pass_scores/pass_end_0371.npz", + "score_arrays_sha256": "06c81275d787b68d846f897252ac9c88a911e3dc9fd42b85c5a107e1809721bb" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0372.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0372.json new file mode 100644 index 0000000000000000000000000000000000000000..fc709357e5a24d2e96c221215c4914272ab22bc0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0372.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35712, + "completed_passes": 372, + "snapshot": "pass_end_0372", + "candidate": true, + "snapshot_arrays_sha256": "6f45f0bad79e706330340594895366d4f2e4e113ae2de050e4592010212edf44", + "score": 6.9736016570232096e-06, + "score_result": { + "score": 6.9736016570232096e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8846172881458187e-06, + 3.147323241137201e-06, + 3.1981321626517456e-06, + 3.62974128620408e-06, + 4.144734248257009e-06, + 4.383435225463472e-06, + 4.146138053329196e-06, + 3.965047653764486e-06, + 3.888379978889134e-06, + 3.959736204706132e-06, + 4.321882443036884e-06, + 4.74631815450266e-06, + 5.0317407840339e-06, + 5.2153909564367495e-06, + 5.201168733037775e-06, + 5.092910669191042e-06, + 4.746581907966174e-06, + 4.359724243840901e-06, + 4.212911335343961e-06, + 4.211351097183069e-06, + 4.1450416574662086e-06, + 3.9430774450011086e-06, + 3.84149052479188e-06, + 3.938770987588214e-06, + 4.117828666494461e-06, + 4.421037829160923e-06, + 4.748480023408774e-06, + 4.829271802009316e-06, + 4.766613983520074e-06, + 4.817909484700067e-06, + 5.097184384794673e-06, + 5.459602107293904e-06, + 5.886916369490791e-06, + 6.176664101076312e-06, + 6.196348294906784e-06, + 6.1310070122999605e-06, + 6.179526280902792e-06, + 6.26242444923264e-06, + 6.002065219945507e-06, + 5.617468104901491e-06, + 5.392785624280805e-06, + 5.5686441555735655e-06, + 5.748992862208979e-06, + 5.954121661488898e-06, + 6.052928256394807e-06, + 6.132603630248923e-06, + 6.2682929637958296e-06, + 6.68542588755372e-06, + 7.218653991003521e-06, + 7.5825983003596775e-06, + 7.474530320905615e-06, + 7.2608909249538556e-06, + 7.096447916410398e-06, + 6.954785931156948e-06, + 6.9729931055917405e-06, + 7.042285687930416e-06, + 7.1366143856721465e-06, + 7.2290567914023995e-06, + 7.323274985537864e-06, + 7.484075922548072e-06, + 7.66699122323189e-06, + 7.866718078730628e-06, + 8.242865078500472e-06, + 8.776480171945877e-06, + 9.393705113325268e-06, + 9.752633559401147e-06, + 9.995363143389113e-06, + 1.024416724249022e-05, + 1.0355036465625744e-05, + 1.019011779135326e-05, + 9.836778190219775e-06, + 9.630581189412624e-06, + 9.446385774936061e-06, + 9.175294508168008e-06, + 8.930807780416217e-06, + 9.07948924577795e-06, + 9.229746865457855e-06, + 9.24898631637916e-06, + 9.200915883411653e-06, + 9.19250669539906e-06, + 9.292140020988882e-06, + 9.435532774659805e-06, + 9.619556294637732e-06, + 9.883215170702897e-06, + 1.0087947885040194e-05, + 1.0173663213208783e-05, + 1.0237153219350148e-05, + 1.0309710887668189e-05, + 1.0326510164304636e-05, + 1.0306066542398185e-05, + 1.0351943274145015e-05, + 1.0417510566185229e-05, + 1.047744353854796e-05, + 1.0555386324995197e-05, + 1.0513191227801144e-05, + 1.0377219950896688e-05 + ] + ], + "episode_mean_losses": [ + 6.9736016570232096e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8846172881458187e-06, + "observation_loss": 2.8846172881458187e-06, + "chamfer": 2.4460741769871674e-06, + "track": 4.3854316800207016e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.192767300992273e-05, + "observation_loss": 3.147323241137201e-06, + "chamfer": 2.6616382911015535e-06, + "track": 4.856850068790663e-07, + "acceleration": 3.8780348404543474e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.308167859155219e-05, + "observation_loss": 3.1981321626517456e-06, + "chamfer": 2.708825377339963e-06, + "track": 4.89306671624945e-07, + "acceleration": 1.9883545974153094e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0095854122482706e-05, + "observation_loss": 3.62974128620408e-06, + "chamfer": 3.061853021790739e-06, + "track": 5.67888264413341e-07, + "acceleration": 6.46611260890495e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.710419827664737e-06, + "observation_loss": 4.144734248257009e-06, + "chamfer": 3.4770600905176252e-06, + "track": 6.676743282696407e-07, + "acceleration": 1.565685352034052e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.477869763126364e-06, + "observation_loss": 4.383435225463472e-06, + "chamfer": 3.667483042590902e-06, + "track": 7.159520123423135e-07, + "acceleration": 1.094434423976054e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.720548986369977e-06, + "observation_loss": 4.146138053329196e-06, + "chamfer": 3.4728127502603456e-06, + "track": 6.733251325385936e-07, + "acceleration": 5.744107625105244e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.584182079270249e-06, + "observation_loss": 3.965047653764486e-06, + "chamfer": 3.326688101878972e-06, + "track": 6.383597224157711e-07, + "acceleration": 6.191344255057629e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.361649189377204e-06, + "observation_loss": 3.888379978889134e-06, + "chamfer": 3.267390184191754e-06, + "track": 6.20989681010542e-07, + "acceleration": 4.732693810183264e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.25883899879409e-06, + "observation_loss": 3.959736204706132e-06, + "chamfer": 3.32668719238427e-06, + "track": 6.330488417916058e-07, + "acceleration": 2.991029077747953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.467247890715953e-06, + "observation_loss": 4.321882443036884e-06, + "chamfer": 3.623166321631288e-06, + "track": 6.987162919358525e-07, + "acceleration": 1.453654476790689e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.839701887249248e-06, + "observation_loss": 4.74631815450266e-06, + "chamfer": 3.964692950830795e-06, + "track": 7.816253173587029e-07, + "acceleration": 9.338386774970786e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.135339506523451e-06, + "observation_loss": 5.0317407840339e-06, + "chamfer": 4.20024025515886e-06, + "track": 8.315006425618776e-07, + "acceleration": 1.0359866564613185e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.321098797139712e-06, + "observation_loss": 5.2153909564367495e-06, + "chamfer": 4.357316356617957e-06, + "track": 8.580744861319545e-07, + "acceleration": 1.0570806807663757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.262868853606051e-06, + "observation_loss": 5.201168733037775e-06, + "chamfer": 4.349203209130792e-06, + "track": 8.519654102201457e-07, + "acceleration": 6.170019162254903e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.217987563810311e-06, + "observation_loss": 5.092910669191042e-06, + "chamfer": 4.260622063156916e-06, + "track": 8.322887197209639e-07, + "acceleration": 1.2507702251696173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.94891855851165e-06, + "observation_loss": 4.746581907966174e-06, + "chamfer": 3.975812433054671e-06, + "track": 7.707693612246658e-07, + "acceleration": 2.0233648001521942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.7076609916985035e-06, + "observation_loss": 4.359724243840901e-06, + "chamfer": 3.654842885225662e-06, + "track": 7.048813017718203e-07, + "acceleration": 3.47936662592474e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.401664682518458e-06, + "observation_loss": 4.212911335343961e-06, + "chamfer": 3.5289608604216482e-06, + "track": 6.839505317657313e-07, + "acceleration": 1.887535177047539e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.3219247345405165e-06, + "observation_loss": 4.211351097183069e-06, + "chamfer": 3.5235063933214406e-06, + "track": 6.878447607050475e-07, + "acceleration": 1.1057370130629351e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.454990175872808e-06, + "observation_loss": 4.1450416574662086e-06, + "chamfer": 3.4674103517318144e-06, + "track": 6.776311920475564e-07, + "acceleration": 3.0994843314147147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.333593096816912e-06, + "observation_loss": 3.9430774450011086e-06, + "chamfer": 3.3014503060257994e-06, + "track": 6.416270821318903e-07, + "acceleration": 3.90515737080932e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.436638846527785e-06, + "observation_loss": 3.84149052479188e-06, + "chamfer": 3.2205857678491157e-06, + "track": 6.209046432559262e-07, + "acceleration": 5.951482080490678e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.5802880777046084e-06, + "observation_loss": 3.938770987588214e-06, + "chamfer": 3.295608621556312e-06, + "track": 6.431624228753208e-07, + "acceleration": 6.415170901163947e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.479411472857464e-06, + "observation_loss": 4.117828666494461e-06, + "chamfer": 3.42698967870092e-06, + "track": 6.908388741067029e-07, + "acceleration": 3.615826926761656e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.705806077254238e-06, + "observation_loss": 4.421037829160923e-06, + "chamfer": 3.6565943446476012e-06, + "track": 7.64443427669903e-07, + "acceleration": 2.8476824809331447e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.1215265557402745e-06, + "observation_loss": 4.748480023408774e-06, + "chamfer": 3.908173312083818e-06, + "track": 8.403065407946997e-07, + "acceleration": 3.7304630495782476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.393550509324996e-06, + "observation_loss": 4.829271802009316e-06, + "chamfer": 3.972355443693232e-06, + "track": 8.569162446292466e-07, + "acceleration": 5.642787641590985e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.35815115654259e-06, + "observation_loss": 4.766613983520074e-06, + "chamfer": 3.916944478987716e-06, + "track": 8.496695613757765e-07, + "acceleration": 5.915370024922595e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.084260010335129e-06, + "observation_loss": 4.817909484700067e-06, + "chamfer": 3.962221853726078e-06, + "track": 8.55687687817408e-07, + "acceleration": 2.663507245870278e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.264016181172337e-06, + "observation_loss": 5.097184384794673e-06, + "chamfer": 4.193416316411458e-06, + "track": 9.037681252266339e-07, + "acceleration": 1.6683172532339086e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.580538072536001e-06, + "observation_loss": 5.459602107293904e-06, + "chamfer": 4.4754006012226455e-06, + "track": 9.84201619758096e-07, + "acceleration": 1.2093576629013114e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.9672056522686034e-06, + "observation_loss": 5.886916369490791e-06, + "chamfer": 4.816165983356768e-06, + "track": 1.0707504998208606e-06, + "acceleration": 8.028941067550477e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.348993338178843e-06, + "observation_loss": 6.176664101076312e-06, + "chamfer": 5.036331003793748e-06, + "track": 1.1403333246562397e-06, + "acceleration": 1.7232906657227431e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.393077001121128e-06, + "observation_loss": 6.196348294906784e-06, + "chamfer": 5.059342129243305e-06, + "track": 1.1370063930371543e-06, + "acceleration": 1.9672850726237812e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.315610789897619e-06, + "observation_loss": 6.1310070122999605e-06, + "chamfer": 5.0097182793251704e-06, + "track": 1.12128873297479e-06, + "acceleration": 1.8460399076047906e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.271774509514216e-06, + "observation_loss": 6.179526280902792e-06, + "chamfer": 5.033308752899757e-06, + "track": 1.1462177553767106e-06, + "acceleration": 9.224820729514249e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.660863164142938e-06, + "observation_loss": 6.26242444923264e-06, + "chamfer": 5.095822871226119e-06, + "track": 1.1666016916933586e-06, + "acceleration": 3.9843868648858916e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.436299827328185e-06, + "observation_loss": 6.002065219945507e-06, + "chamfer": 4.90284173793043e-06, + "track": 1.0992233683282393e-06, + "acceleration": 4.342346358043869e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.975843578198692e-06, + "observation_loss": 5.617468104901491e-06, + "chamfer": 4.599200110533275e-06, + "track": 1.018267994368216e-06, + "acceleration": 3.583755869840388e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.762768978456734e-06, + "observation_loss": 5.392785624280805e-06, + "chamfer": 4.415558578330092e-06, + "track": 9.77226932263875e-07, + "acceleration": 3.6998341101934784e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 5.995770152367186e-06, + "observation_loss": 5.5686441555735655e-06, + "chamfer": 4.53297070635017e-06, + "track": 1.0356733355365577e-06, + "acceleration": 4.27125911528492e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.1974428717803676e-06, + "observation_loss": 5.748992862208979e-06, + "chamfer": 4.6511340769939125e-06, + "track": 1.097858671528229e-06, + "acceleration": 4.4845018010164495e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.500819836219307e-06, + "observation_loss": 5.954121661488898e-06, + "chamfer": 4.801863269676687e-06, + "track": 1.1522585054990486e-06, + "acceleration": 5.466981178869901e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 7.119569090718869e-06, + "observation_loss": 6.052928256394807e-06, + "chamfer": 4.87886973132845e-06, + "track": 1.1740585250663571e-06, + "acceleration": 1.0666406069503864e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.617279607075034e-06, + "observation_loss": 6.132603630248923e-06, + "chamfer": 4.9392006076232065e-06, + "track": 1.1934032499993918e-06, + "acceleration": 1.4846759768261109e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.066676062095212e-06, + "observation_loss": 6.2682929637958296e-06, + "chamfer": 5.042491920903558e-06, + "track": 1.2258010428922717e-06, + "acceleration": 7.9838321198622e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.788825314491987e-06, + "observation_loss": 6.68542588755372e-06, + "chamfer": 5.3598228078044485e-06, + "track": 1.3256029660624336e-06, + "acceleration": 1.103399199564592e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 7.96508993516909e-06, + "observation_loss": 7.218653991003521e-06, + "chamfer": 5.741690983995795e-06, + "track": 1.476963234381401e-06, + "acceleration": 7.464356599484745e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.230195817304775e-06, + "observation_loss": 7.5825983003596775e-06, + "chamfer": 6.0085003497079015e-06, + "track": 1.5740978369649383e-06, + "acceleration": 6.47597346414841e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.448653716186527e-06, + "observation_loss": 7.474530320905615e-06, + "chamfer": 5.93737331655575e-06, + "track": 1.537157004349865e-06, + "acceleration": 9.741232815940748e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.2979231592617e-06, + "observation_loss": 7.2608909249538556e-06, + "chamfer": 5.7882275541487616e-06, + "track": 1.4726634844919317e-06, + "acceleration": 1.037032347994682e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.449465101672104e-06, + "observation_loss": 7.096447916410398e-06, + "chamfer": 5.6613912420289125e-06, + "track": 1.4350565606946475e-06, + "acceleration": 3.530172705268342e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.118587291188305e-06, + "observation_loss": 6.954785931156948e-06, + "chamfer": 5.553852133743931e-06, + "track": 1.4009335700393422e-06, + "acceleration": 1.638014310856306e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.128504876163788e-06, + "observation_loss": 6.9729931055917405e-06, + "chamfer": 5.564245384448441e-06, + "track": 1.4087474937696243e-06, + "acceleration": 1.5551199794572312e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.201655080280034e-06, + "observation_loss": 7.042285687930416e-06, + "chamfer": 5.6056815083138645e-06, + "track": 1.4366042933033896e-06, + "acceleration": 1.5936954866901942e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.205460860859603e-06, + "observation_loss": 7.1366143856721465e-06, + "chamfer": 5.672984116245061e-06, + "track": 1.463630383113923e-06, + "acceleration": 6.884660308514867e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.420662313961657e-06, + "observation_loss": 7.2290567914023995e-06, + "chamfer": 5.7286929404654074e-06, + "track": 1.5003637372501544e-06, + "acceleration": 1.916055083484025e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.920031748653855e-06, + "observation_loss": 7.323274985537864e-06, + "chamfer": 5.8000755416287575e-06, + "track": 1.523199330222269e-06, + "acceleration": 5.967567631159909e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.760025593801402e-06, + "observation_loss": 7.484075922548072e-06, + "chamfer": 5.909622814215254e-06, + "track": 1.574453222019656e-06, + "acceleration": 1.2759495575664914e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.512091310170945e-06, + "observation_loss": 7.66699122323189e-06, + "chamfer": 6.050049250916345e-06, + "track": 1.6169415175681934e-06, + "acceleration": 1.8451002006258932e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.987316505226772e-06, + "observation_loss": 7.866718078730628e-06, + "chamfer": 6.204130841069855e-06, + "track": 1.6625875787212863e-06, + "acceleration": 1.120598540182982e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.70791518536862e-06, + "observation_loss": 8.242865078500472e-06, + "chamfer": 6.472626864706399e-06, + "track": 1.7702383274809108e-06, + "acceleration": 4.6505030582011386e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.088341357710306e-06, + "observation_loss": 8.776480171945877e-06, + "chamfer": 6.837722139607649e-06, + "track": 1.938757577590877e-06, + "acceleration": 3.118611573427188e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.507560207566712e-06, + "observation_loss": 9.393705113325268e-06, + "chamfer": 7.2576031016069464e-06, + "track": 2.1361024664656725e-06, + "acceleration": 1.1385523634999117e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.843975021794904e-06, + "observation_loss": 9.752633559401147e-06, + "chamfer": 7.50269100535661e-06, + "track": 2.249943008791888e-06, + "acceleration": 9.134158318602204e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.028710903483443e-05, + "observation_loss": 9.995363143389113e-06, + "chamfer": 7.670024388062302e-06, + "track": 2.3253389827004867e-06, + "acceleration": 2.9174623250582954e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0433201168780215e-05, + "observation_loss": 1.024416724249022e-05, + "chamfer": 7.821502549631987e-06, + "track": 2.422664692858234e-06, + "acceleration": 1.8903418208537914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0483457117516082e-05, + "observation_loss": 1.0355036465625744e-05, + "chamfer": 7.887430911068805e-06, + "track": 2.467605781930615e-06, + "acceleration": 1.284208650531582e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0573972758720629e-05, + "observation_loss": 1.019011779135326e-05, + "chamfer": 7.771681339363568e-06, + "track": 2.4184362246160163e-06, + "acceleration": 3.838553368495923e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0832787666004151e-05, + "observation_loss": 9.836778190219775e-06, + "chamfer": 7.549508609372424e-06, + "track": 2.287269580847351e-06, + "acceleration": 9.960098168448894e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0259744158247486e-05, + "observation_loss": 9.630581189412624e-06, + "chamfer": 7.402317351079546e-06, + "track": 2.2282638383330777e-06, + "acceleration": 6.291625709309301e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.695988410385326e-06, + "observation_loss": 9.446385774936061e-06, + "chamfer": 7.270954029081622e-06, + "track": 2.1754317458544392e-06, + "acceleration": 2.496024649190076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.425410098629072e-06, + "observation_loss": 9.175294508168008e-06, + "chamfer": 7.070655101415468e-06, + "track": 2.1046396341262152e-06, + "acceleration": 2.5011550519593584e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.101685463974718e-06, + "observation_loss": 8.930807780416217e-06, + "chamfer": 6.894327270856593e-06, + "track": 2.036480509559624e-06, + "acceleration": 1.7087756987166358e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.515950296190567e-06, + "observation_loss": 9.07948924577795e-06, + "chamfer": 6.99790871294681e-06, + "track": 2.0815809875784907e-06, + "acceleration": 4.364614198948402e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2846193385485094e-05, + "observation_loss": 9.229746865457855e-06, + "chamfer": 7.062947588565294e-06, + "track": 2.1667988221452106e-06, + "acceleration": 3.616446520027239e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.306628473685123e-05, + "observation_loss": 9.24898631637916e-06, + "chamfer": 7.0953351496427786e-06, + "track": 2.1536513941100566e-06, + "acceleration": 3.8172984204720706e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.1087020538980141e-05, + "observation_loss": 9.200915883411653e-06, + "chamfer": 7.042875495244516e-06, + "track": 2.1580403881671373e-06, + "acceleration": 1.8861045418816502e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0812002074089833e-05, + "observation_loss": 9.19250669539906e-06, + "chamfer": 7.022244517429499e-06, + "track": 2.170261723222211e-06, + "acceleration": 1.6194951513170963e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 1.0029862096416764e-05, + "observation_loss": 9.292140020988882e-06, + "chamfer": 7.090017788868863e-06, + "track": 2.202122459493694e-06, + "acceleration": 7.377221322713012e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.749472155817784e-06, + "observation_loss": 9.435532774659805e-06, + "chamfer": 7.16638487574528e-06, + "track": 2.26914767154085e-06, + "acceleration": 3.139389548323379e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.713898180052638e-06, + "observation_loss": 9.619556294637732e-06, + "chamfer": 7.2864172580011655e-06, + "track": 2.3331388092628913e-06, + "acceleration": 9.434220515913694e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 9.976683031709399e-06, + "observation_loss": 9.883215170702897e-06, + "chamfer": 7.468808689736761e-06, + "track": 2.4144067083398113e-06, + "acceleration": 9.346815232902372e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0198735253652558e-05, + "observation_loss": 1.0087947885040194e-05, + "chamfer": 7.60897228246904e-06, + "track": 2.4789758299448295e-06, + "acceleration": 1.1078763151317617e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.026840072881896e-05, + "observation_loss": 1.0173663213208783e-05, + "chamfer": 7.656802154087927e-06, + "track": 2.5168608317471808e-06, + "acceleration": 9.473723849851012e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0391915566287935e-05, + "observation_loss": 1.0237153219350148e-05, + "chamfer": 7.695502063143067e-06, + "track": 2.541651156207081e-06, + "acceleration": 1.5476211956411134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0459521035954822e-05, + "observation_loss": 1.0309710887668189e-05, + "chamfer": 7.731277037237305e-06, + "track": 2.5784338504308835e-06, + "acceleration": 1.498104467145822e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0394158380222507e-05, + "observation_loss": 1.0326510164304636e-05, + "chamfer": 7.736591214779764e-06, + "track": 2.589919404272223e-06, + "acceleration": 6.764848592410999e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.051444633048959e-05, + "observation_loss": 1.0306066542398185e-05, + "chamfer": 7.72253315517446e-06, + "track": 2.5835336145973997e-06, + "acceleration": 2.083801291519194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0466184903634712e-05, + "observation_loss": 1.0351943274145015e-05, + "chamfer": 7.747386916889809e-06, + "track": 2.6045563572552055e-06, + "acceleration": 1.1424141632687679e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0529870451136958e-05, + "observation_loss": 1.0417510566185229e-05, + "chamfer": 7.77510467742104e-06, + "track": 2.642406116137863e-06, + "acceleration": 1.1235993468972083e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.055946086125914e-05, + "observation_loss": 1.047744353854796e-05, + "chamfer": 7.813602678652387e-06, + "track": 2.6638406325218966e-06, + "acceleration": 8.201725165690732e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.063333638740005e-05, + "observation_loss": 1.0555386324995197e-05, + "chamfer": 7.85927022661781e-06, + "track": 2.696115643630037e-06, + "acceleration": 7.795027556767309e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0627515621308703e-05, + "observation_loss": 1.0513191227801144e-05, + "chamfer": 7.836362783564255e-06, + "track": 2.676828671610565e-06, + "acceleration": 1.1432472746264466e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0467959327797871e-05, + "observation_loss": 1.0377219950896688e-05, + "chamfer": 7.751171324343886e-06, + "track": 2.6260490813001525e-06, + "acceleration": 9.073944795545685e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.136823100339067e-06, + "chamfer_mean": 5.496143216987548e-06, + "track_mean": 1.4774584566149922e-06, + "acceleration_mean": 1.1632214453882739e-06, + "observation_score": 6.9736016570232096e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4347065379988635 + }, + "score_arrays_file": "pass_scores/pass_end_0372.npz", + "score_arrays_sha256": "2a3c016e168368523d290fcd523785eab627d437d5b7d000e3659a3ef024f4a6" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0373.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0373.json new file mode 100644 index 0000000000000000000000000000000000000000..7b9c2ea87e4ba843e852d9bebef257422c40c938 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0373.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35808, + "completed_passes": 373, + "snapshot": "pass_end_0373", + "candidate": true, + "snapshot_arrays_sha256": "f42ec2031c485022f619f8cdfb380a19768096f2248c97cd175b5dfde62d3cc5", + "score": 6.971030408919887e-06, + "score_result": { + "score": 6.971030408919887e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8849658519902732e-06, + 3.1470192425331334e-06, + 3.1970009786164155e-06, + 3.628427521107369e-06, + 4.142823399888584e-06, + 4.381454800750362e-06, + 4.14451915276004e-06, + 3.963425115216523e-06, + 3.886573722411413e-06, + 3.95743154513184e-06, + 4.319276740716305e-06, + 4.742520104628056e-06, + 5.0274093155167066e-06, + 5.2108171075815335e-06, + 5.196412075747503e-06, + 5.087971658213064e-06, + 4.74200896860566e-06, + 4.355263627076056e-06, + 4.2093670344911516e-06, + 4.20719607063802e-06, + 4.139624252275098e-06, + 3.93618893212988e-06, + 3.836558789771516e-06, + 3.936918801628053e-06, + 4.120009180041961e-06, + 4.425168299349025e-06, + 4.750619154947344e-06, + 4.82918130728649e-06, + 4.766809070133604e-06, + 4.819794867216842e-06, + 5.099825102661271e-06, + 5.463660272653215e-06, + 5.891288310522214e-06, + 6.18053582002176e-06, + 6.1992495830054395e-06, + 6.133856459200615e-06, + 6.1821669987693895e-06, + 6.2652093220094685e-06, + 6.0062170632591005e-06, + 5.62066361453617e-06, + 5.392048478825018e-06, + 5.5638911362621e-06, + 5.744601367041469e-06, + 5.948983016423881e-06, + 6.0473039411590435e-06, + 6.1289724726520944e-06, + 6.265246611292241e-06, + 6.6799157139030285e-06, + 7.208400802483084e-06, + 7.574536994070513e-06, + 7.463030215149047e-06, + 7.254399406519951e-06, + 7.092824489518534e-06, + 6.952076546440367e-06, + 6.973531071707839e-06, + 7.044603080430534e-06, + 7.138580258470029e-06, + 7.230151823023334e-06, + 7.3239307312178425e-06, + 7.484653451683698e-06, + 7.668400940019637e-06, + 7.868538887123577e-06, + 8.243700904131401e-06, + 8.776969480095431e-06, + 9.394237167725805e-06, + 9.753848644322716e-06, + 9.997703273256775e-06, + 1.0245918019791134e-05, + 1.0354596270190086e-05, + 1.018806597130606e-05, + 9.834618140303064e-06, + 9.627688086766284e-06, + 9.443336239201017e-06, + 9.17238139663823e-06, + 8.928642273531295e-06, + 9.07669891603291e-06, + 9.226459951605648e-06, + 9.249247341358569e-06, + 9.200664862873964e-06, + 9.1884230641881e-06, + 9.285915439249948e-06, + 9.429878446098883e-06, + 9.612011126591824e-06, + 9.876243893813808e-06, + 1.007977880362887e-05, + 1.0166620995732956e-05, + 1.0230447514913976e-05, + 1.0303772796760313e-05, + 1.0319276043446735e-05, + 1.0297976587025914e-05, + 1.0342953828512691e-05, + 1.0407771696918644e-05, + 1.0466757885296829e-05, + 1.0543970347498544e-05, + 1.0502297300263308e-05, + 1.0365995876782108e-05 + ] + ], + "episode_mean_losses": [ + 6.971030408919887e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8849658519902732e-06, + "observation_loss": 2.8849658519902732e-06, + "chamfer": 2.4463522549922345e-06, + "track": 4.386135969980387e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.194082066533156e-05, + "observation_loss": 3.1470192425331334e-06, + "chamfer": 2.6613829504640307e-06, + "track": 4.856363489125215e-07, + "acceleration": 3.87938016501721e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3086313376552425e-05, + "observation_loss": 3.1970009786164155e-06, + "chamfer": 2.707879502850119e-06, + "track": 4.891214757662965e-07, + "acceleration": 1.9889312170562334e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0097855010826606e-05, + "observation_loss": 3.628427521107369e-06, + "chamfer": 3.0607670851168223e-06, + "track": 5.67660379147128e-07, + "acceleration": 6.469427262345562e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.713450264011044e-06, + "observation_loss": 4.142823399888584e-06, + "chamfer": 3.475506218819646e-06, + "track": 6.673170105386816e-07, + "acceleration": 1.5706268641224597e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.476400019688299e-06, + "observation_loss": 4.381454800750362e-06, + "chamfer": 3.6658877888839925e-06, + "track": 7.155670118663693e-07, + "acceleration": 1.0949452189379372e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.716131115856115e-06, + "observation_loss": 4.14451915276004e-06, + "chamfer": 3.471484205874731e-06, + "track": 6.730348900418903e-07, + "acceleration": 5.716120767829125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.579537289828295e-06, + "observation_loss": 3.963425115216523e-06, + "chamfer": 3.3253495530516375e-06, + "track": 6.380757895385614e-07, + "acceleration": 6.161121177683526e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.35718948210706e-06, + "observation_loss": 3.886573722411413e-06, + "chamfer": 3.2658817872288637e-06, + "track": 6.206917078088736e-07, + "acceleration": 4.7061556074368127e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.255051408108557e-06, + "observation_loss": 3.95743154513184e-06, + "chamfer": 3.3247749797737924e-06, + "track": 6.326563379843719e-07, + "acceleration": 2.9761986297671683e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.463753612071741e-06, + "observation_loss": 4.319276740716305e-06, + "chamfer": 3.621035375545034e-06, + "track": 6.982411946410139e-07, + "acceleration": 1.4447671503603488e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.835776508116396e-06, + "observation_loss": 4.742520104628056e-06, + "chamfer": 3.961615675507346e-06, + "track": 7.809045428075478e-07, + "acceleration": 9.325619743094649e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.130912995809922e-06, + "observation_loss": 5.0274093155167066e-06, + "chamfer": 4.1967423385358416e-06, + "track": 8.306672043545404e-07, + "acceleration": 1.0350372292577958e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.316358965501422e-06, + "observation_loss": 5.2108171075815335e-06, + "chamfer": 4.35361926065525e-06, + "track": 8.571976195526076e-07, + "acceleration": 1.0554168738963199e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.258012151898583e-06, + "observation_loss": 5.196412075747503e-06, + "chamfer": 4.345328306953888e-06, + "track": 8.510837119501957e-07, + "acceleration": 6.159985588283234e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.212984433455858e-06, + "observation_loss": 5.087971658213064e-06, + "chamfer": 4.256587999407202e-06, + "track": 8.313838293361187e-07, + "acceleration": 1.2501280366450374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.944249667460099e-06, + "observation_loss": 4.74200896860566e-06, + "chamfer": 3.972061676904559e-06, + "track": 7.69947178014263e-07, + "acceleration": 2.0224062780016538e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.703389095084276e-06, + "observation_loss": 4.355263627076056e-06, + "chamfer": 3.651142606031499e-06, + "track": 7.041209642011381e-07, + "acceleration": 3.481252690562542e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.397787051857449e-06, + "observation_loss": 4.2093670344911516e-06, + "chamfer": 3.5260129607195267e-06, + "track": 6.833543011453003e-07, + "acceleration": 1.884201736856994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.316711510909954e-06, + "observation_loss": 4.20719607063802e-06, + "chamfer": 3.5200698675907915e-06, + "track": 6.87126203047228e-07, + "acceleration": 1.0951536921766092e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.449293555808254e-06, + "observation_loss": 4.139624252275098e-06, + "chamfer": 3.462935865172767e-06, + "track": 6.766886144760065e-07, + "acceleration": 3.0966938879828376e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.3256254684820306e-06, + "observation_loss": 3.93618893212988e-06, + "chamfer": 3.295714805062744e-06, + "track": 6.404740133802989e-07, + "acceleration": 3.8943636582189356e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.42791542809573e-06, + "observation_loss": 3.836558789771516e-06, + "chamfer": 3.2164252843358554e-06, + "track": 6.201335622790793e-07, + "acceleration": 5.913565814807953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.569154953060206e-06, + "observation_loss": 3.936918801628053e-06, + "chamfer": 3.293988129371428e-06, + "track": 6.42930785943463e-07, + "acceleration": 6.322363788058283e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.480330517253606e-06, + "observation_loss": 4.120009180041961e-06, + "chamfer": 3.428709533181973e-06, + "track": 6.912998173902452e-07, + "acceleration": 3.6032142247677257e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.710766006610356e-06, + "observation_loss": 4.425168299349025e-06, + "chamfer": 3.6598376027541235e-06, + "track": 7.653308102817391e-07, + "acceleration": 2.855976504179125e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.127516487846151e-06, + "observation_loss": 4.750619154947344e-06, + "chamfer": 3.909945007762872e-06, + "track": 8.40673976654216e-07, + "acceleration": 3.7689710552513134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.406269337981939e-06, + "observation_loss": 4.82918130728649e-06, + "chamfer": 3.972497324866708e-06, + "track": 8.566838118895248e-07, + "acceleration": 5.770882012257061e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.358378530218033e-06, + "observation_loss": 4.766809070133604e-06, + "chamfer": 3.917189587809844e-06, + "track": 8.496193117935036e-07, + "acceleration": 5.915695169278479e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.08445555169601e-06, + "observation_loss": 4.819794867216842e-06, + "chamfer": 3.96358245779993e-06, + "track": 8.562122388866555e-07, + "acceleration": 2.6466085500942427e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.261194019112736e-06, + "observation_loss": 5.099825102661271e-06, + "chamfer": 4.1953608160838485e-06, + "track": 9.044640592037467e-07, + "acceleration": 1.6136884539719176e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.580566266871756e-06, + "observation_loss": 5.463660272653215e-06, + "chamfer": 4.4784446799894795e-06, + "track": 9.852157063505729e-07, + "acceleration": 1.1690609369452432e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.9713352129620034e-06, + "observation_loss": 5.891288310522214e-06, + "chamfer": 4.81928054796299e-06, + "track": 1.0720076488723862e-06, + "acceleration": 8.004700191577285e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.351496722345473e-06, + "observation_loss": 6.18053582002176e-06, + "chamfer": 5.0390567594149616e-06, + "track": 1.1414791742936359e-06, + "acceleration": 1.7096094495627767e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.393748208211036e-06, + "observation_loss": 6.1992495830054395e-06, + "chamfer": 5.061343927081907e-06, + "track": 1.13790576961037e-06, + "acceleration": 1.9449868204901577e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.316051440080628e-06, + "observation_loss": 6.133856459200615e-06, + "chamfer": 5.011909706809092e-06, + "track": 1.121946638704685e-06, + "acceleration": 1.8219509456685046e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.272065093071433e-06, + "observation_loss": 6.1821669987693895e-06, + "chamfer": 5.035481535742292e-06, + "track": 1.1466853493402596e-06, + "acceleration": 8.989824351601783e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.661208317382261e-06, + "observation_loss": 6.2652093220094685e-06, + "chamfer": 5.098107976664323e-06, + "track": 1.1671014590319828e-06, + "acceleration": 3.9599913748133986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.434999704652e-06, + "observation_loss": 6.0062170632591005e-06, + "chamfer": 4.906105914415093e-06, + "track": 1.1001112625308451e-06, + "acceleration": 4.287827550797374e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.96389509155415e-06, + "observation_loss": 5.62066361453617e-06, + "chamfer": 4.60174214822473e-06, + "track": 1.0189214663114399e-06, + "acceleration": 3.4323144859627064e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.742256234952947e-06, + "observation_loss": 5.392048478825018e-06, + "chamfer": 4.414955583342817e-06, + "track": 9.770928954822011e-07, + "acceleration": 3.50207670862801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 5.966334356344305e-06, + "observation_loss": 5.5638911362621e-06, + "chamfer": 4.5292081267689355e-06, + "track": 1.0346832368668402e-06, + "acceleration": 4.0244344745588023e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.1542095863842405e-06, + "observation_loss": 5.744601367041469e-06, + "chamfer": 4.6475092858599965e-06, + "track": 1.0970919674946344e-06, + "acceleration": 4.096082193427719e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.428764208976645e-06, + "observation_loss": 5.948983016423881e-06, + "chamfer": 4.797597739525372e-06, + "track": 1.1513851632116712e-06, + "acceleration": 4.797813630830206e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.962181487324415e-06, + "observation_loss": 6.0473039411590435e-06, + "chamfer": 4.874465957982466e-06, + "track": 1.1728378694897401e-06, + "acceleration": 9.148775461653713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.576699772471329e-06, + "observation_loss": 6.1289724726520944e-06, + "chamfer": 4.93636571263778e-06, + "track": 1.192606873701152e-06, + "acceleration": 1.4477274135060725e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.1068884608394e-06, + "observation_loss": 6.265246611292241e-06, + "chamfer": 5.039901679992909e-06, + "track": 1.2253449312993325e-06, + "acceleration": 8.416417358603212e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.73761985328747e-06, + "observation_loss": 6.6799157139030285e-06, + "chamfer": 5.3554972510028165e-06, + "track": 1.3244185765870498e-06, + "acceleration": 1.0577040256976034e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 8.071339834714308e-06, + "observation_loss": 7.208400802483084e-06, + "chamfer": 5.734109890909167e-06, + "track": 1.474290797887079e-06, + "acceleration": 8.629387480141304e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.290514415421057e-06, + "observation_loss": 7.574536994070513e-06, + "chamfer": 6.002670488669537e-06, + "track": 1.5718666190878139e-06, + "acceleration": 7.159773076637066e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.382575288123917e-06, + "observation_loss": 7.463030215149047e-06, + "chamfer": 5.929014150751755e-06, + "track": 1.5340160643972922e-06, + "acceleration": 9.19544675070938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.3600461948663e-06, + "observation_loss": 7.254399406519951e-06, + "chamfer": 5.783576398243895e-06, + "track": 1.4708230082760565e-06, + "acceleration": 1.1056467883463483e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.484669367840979e-06, + "observation_loss": 7.092824489518534e-06, + "chamfer": 5.658776444761315e-06, + "track": 1.434048044757219e-06, + "acceleration": 3.91844821479026e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.115853350114776e-06, + "observation_loss": 6.952076546440367e-06, + "chamfer": 5.551987669605296e-06, + "track": 1.4000887631482328e-06, + "acceleration": 1.637766473550073e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.119258043530863e-06, + "observation_loss": 6.973531071707839e-06, + "chamfer": 5.564982984651579e-06, + "track": 1.4085482007430983e-06, + "acceleration": 1.4572691497960477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.207954695331864e-06, + "observation_loss": 7.044603080430534e-06, + "chamfer": 5.6076801229210105e-06, + "track": 1.4369229575095233e-06, + "acceleration": 1.6335179964244162e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.207278031273745e-06, + "observation_loss": 7.138580258470029e-06, + "chamfer": 5.674826752510853e-06, + "track": 1.463753733332851e-06, + "acceleration": 6.869784385798994e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.420007932523731e-06, + "observation_loss": 7.230151823023334e-06, + "chamfer": 5.729832537326729e-06, + "track": 1.5003191720097675e-06, + "acceleration": 1.8985599581355928e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.924157216621097e-06, + "observation_loss": 7.3239307312178425e-06, + "chamfer": 5.8007722145703156e-06, + "track": 1.5231584029606893e-06, + "acceleration": 6.002260874993226e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.765107850194909e-06, + "observation_loss": 7.484653451683698e-06, + "chamfer": 5.910300842515426e-06, + "track": 1.5743526091682725e-06, + "acceleration": 1.280454625884886e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.52153823163826e-06, + "observation_loss": 7.668400940019637e-06, + "chamfer": 6.0513289099617396e-06, + "track": 1.6170718026842223e-06, + "acceleration": 1.8531377463659737e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 8.990965397970285e-06, + "observation_loss": 7.868538887123577e-06, + "chamfer": 6.2056178649072535e-06, + "track": 1.662921363276837e-06, + "acceleration": 1.1224261697861948e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.709908797754906e-06, + "observation_loss": 8.243700904131401e-06, + "chamfer": 6.473284429375781e-06, + "track": 1.7704163610687829e-06, + "acceleration": 4.6620775151495764e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.088009392144158e-06, + "observation_loss": 8.776969480095431e-06, + "chamfer": 6.83823054714594e-06, + "track": 1.93873847820214e-06, + "acceleration": 3.1103999731385557e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.507716640655417e-06, + "observation_loss": 9.394237167725805e-06, + "chamfer": 7.258129699039273e-06, + "track": 2.1361074686865322e-06, + "acceleration": 1.1347925266136372e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.844317901297472e-06, + "observation_loss": 9.753848644322716e-06, + "chamfer": 7.5037019087176304e-06, + "track": 2.25014650823141e-06, + "acceleration": 9.046913618249164e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0288413250236772e-05, + "observation_loss": 9.997703273256775e-06, + "chamfer": 7.671871571801603e-06, + "track": 2.325831701455172e-06, + "acceleration": 2.907100622451253e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.043369138642447e-05, + "observation_loss": 1.0245918019791134e-05, + "chamfer": 7.822925908840261e-06, + "track": 2.4229916562035214e-06, + "acceleration": 1.8777376453726902e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0480095625098329e-05, + "observation_loss": 1.0354596270190086e-05, + "chamfer": 7.88735178502975e-06, + "track": 2.4672442577866605e-06, + "acceleration": 1.2549949701678997e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0567511708359234e-05, + "observation_loss": 1.018806597130606e-05, + "chamfer": 7.77044624555856e-06, + "track": 2.417619953121175e-06, + "acceleration": 3.7944539599266136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.082739527191734e-05, + "observation_loss": 9.834618140303064e-06, + "chamfer": 7.54802385927178e-06, + "track": 2.28659450840496e-06, + "acceleration": 9.927769042405998e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0258753718517255e-05, + "observation_loss": 9.627688086766284e-06, + "chamfer": 7.400297363346908e-06, + "track": 2.2273907234193757e-06, + "acceleration": 6.310658022812277e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.694678738014773e-06, + "observation_loss": 9.443336239201017e-06, + "chamfer": 7.268823082995368e-06, + "track": 2.174513383579324e-06, + "acceleration": 2.5134215775324265e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.425280040886719e-06, + "observation_loss": 9.17238139663823e-06, + "chamfer": 7.06848595655174e-06, + "track": 2.1038958948338404e-06, + "acceleration": 2.5289861582677986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.098112059291452e-06, + "observation_loss": 8.928642273531295e-06, + "chamfer": 6.892608780617593e-06, + "track": 2.0360330381663516e-06, + "acceleration": 1.694699562904134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.48479282669723e-06, + "observation_loss": 9.07669891603291e-06, + "chamfer": 6.9964999056537636e-06, + "track": 2.0801987830054713e-06, + "acceleration": 4.080941948814143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.2923658687213901e-05, + "observation_loss": 9.226459951605648e-06, + "chamfer": 7.060398729663575e-06, + "track": 2.1660616766894236e-06, + "acceleration": 3.6971987356082536e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.3154065527487546e-05, + "observation_loss": 9.249247341358569e-06, + "chamfer": 7.094892680470366e-06, + "track": 2.1543546608882025e-06, + "acceleration": 3.904817731381627e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.1092070053564385e-05, + "observation_loss": 9.200664862873964e-06, + "chamfer": 7.04300555298687e-06, + "track": 2.1576597646344453e-06, + "acceleration": 1.8914047359430697e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0771112101792824e-05, + "observation_loss": 9.1884230641881e-06, + "chamfer": 7.018954420345835e-06, + "track": 2.1694688712159405e-06, + "acceleration": 1.5826891512915608e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 9.989083082473371e-06, + "observation_loss": 9.285915439249948e-06, + "chamfer": 7.085667675710283e-06, + "track": 2.2002477635396644e-06, + "acceleration": 7.031678137536801e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.7319361884729e-06, + "observation_loss": 9.429878446098883e-06, + "chamfer": 7.162944257288473e-06, + "track": 2.26693418881041e-06, + "acceleration": 3.0205774237401783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.706776836537756e-06, + "observation_loss": 9.612011126591824e-06, + "chamfer": 7.281635589606594e-06, + "track": 2.3303755369852297e-06, + "acceleration": 9.47658662653339e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 9.96715698420303e-06, + "observation_loss": 9.876243893813808e-06, + "chamfer": 7.464639111276483e-06, + "track": 2.411605009911e-06, + "acceleration": 9.091294828067475e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0189699423790444e-05, + "observation_loss": 1.007977880362887e-05, + "chamfer": 7.603787707921583e-06, + "track": 2.4759913230809616e-06, + "acceleration": 1.0992042120960832e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0260661838401575e-05, + "observation_loss": 1.0166620995732956e-05, + "chamfer": 7.652411113667767e-06, + "track": 2.5142101094388636e-06, + "acceleration": 9.404096346088409e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.038038590195356e-05, + "observation_loss": 1.0230447514913976e-05, + "chamfer": 7.69117923482554e-06, + "track": 2.5392685074621113e-06, + "acceleration": 1.499385149372756e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.044610507960897e-05, + "observation_loss": 1.0303772796760313e-05, + "chamfer": 7.727317097305786e-06, + "track": 2.5764556994545273e-06, + "acceleration": 1.4233226863780146e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.038583377521718e-05, + "observation_loss": 1.0319276043446735e-05, + "chamfer": 7.731888217676897e-06, + "track": 2.5873875983961625e-06, + "acceleration": 6.655760387275222e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0508215382287744e-05, + "observation_loss": 1.0297976587025914e-05, + "chamfer": 7.717228072579019e-06, + "track": 2.58074828707322e-06, + "acceleration": 2.1023923579832626e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0458471479068976e-05, + "observation_loss": 1.0342953828512691e-05, + "chamfer": 7.741609806544147e-06, + "track": 2.601343794594868e-06, + "acceleration": 1.1551749423688307e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0521146577957552e-05, + "observation_loss": 1.0407771696918644e-05, + "chamfer": 7.768895557092037e-06, + "track": 2.638876594573958e-06, + "acceleration": 1.1337519367771165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0548827049206011e-05, + "observation_loss": 1.0466757885296829e-05, + "chamfer": 7.806784196873195e-06, + "track": 2.6599736884236336e-06, + "acceleration": 8.206879442695936e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.0621513865771703e-05, + "observation_loss": 1.0543970347498544e-05, + "chamfer": 7.85191969043808e-06, + "track": 2.692051111807814e-06, + "acceleration": 7.754310615837312e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0615575774863828e-05, + "observation_loss": 1.0502297300263308e-05, + "chamfer": 7.829513378965203e-06, + "track": 2.67278369392443e-06, + "acceleration": 1.1327868776334071e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0455369192641228e-05, + "observation_loss": 1.0365995876782108e-05, + "chamfer": 7.743903552182019e-06, + "track": 2.6220923246000893e-06, + "acceleration": 8.937328743741091e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.133400816253319e-06, + "chamfer_mean": 5.4943476802312334e-06, + "track_mean": 1.4766827369783186e-06, + "acceleration_mean": 1.162370388533655e-06, + "observation_score": 6.971030408919887e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4168653240012645 + }, + "score_arrays_file": "pass_scores/pass_end_0373.npz", + "score_arrays_sha256": "338582f49cc77913ddade7c869cef591399b4d39ca910038283db11f7a3bafaf" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0374.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0374.json new file mode 100644 index 0000000000000000000000000000000000000000..83dba4940ac6e95730f087e29534af06f6accd41 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0374.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 35904, + "completed_passes": 374, + "snapshot": "pass_end_0374", + "candidate": true, + "snapshot_arrays_sha256": "d8c48c9d8cbed4dca4adcfb0d23bdc3437db94f7474683b2a17eb3df24ae1c26", + "score": 6.969626577794467e-06, + "score_result": { + "score": 6.969626577794467e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8853082767454907e-06, + 3.1466952350456268e-06, + 3.196027137164492e-06, + 3.627315891208127e-06, + 4.141551926295506e-06, + 4.380271548143355e-06, + 4.143875685258536e-06, + 3.962365553888958e-06, + 3.88522812500014e-06, + 3.955783085984876e-06, + 4.3174709389859345e-06, + 4.739794349006843e-06, + 5.024182428314816e-06, + 5.20760386280017e-06, + 5.193356628296897e-06, + 5.0849580475187395e-06, + 4.738873940368649e-06, + 4.351866209617583e-06, + 4.206330686429283e-06, + 4.204119704809273e-06, + 4.136220013606362e-06, + 3.9322271732089575e-06, + 3.83305723516969e-06, + 3.9352430576400366e-06, + 4.120313406019704e-06, + 4.426276973390486e-06, + 4.749258096126141e-06, + 4.826225449505728e-06, + 4.765351604874013e-06, + 4.819384230358992e-06, + 5.099665031593759e-06, + 5.464475634653354e-06, + 5.892376975680236e-06, + 6.181560820550658e-06, + 6.199715244292747e-06, + 6.134458089945838e-06, + 6.181263415783178e-06, + 6.2625617829326075e-06, + 6.0055845096940175e-06, + 5.620367574010743e-06, + 5.390405931393616e-06, + 5.558857537835138e-06, + 5.740600045101019e-06, + 5.944171789451502e-06, + 6.041606866347138e-06, + 6.1275104599189945e-06, + 6.265000138228061e-06, + 6.679696980427252e-06, + 7.207514499896206e-06, + 7.5737784754892346e-06, + 7.458027539541945e-06, + 7.257754077727441e-06, + 7.097306479408871e-06, + 6.954322998353746e-06, + 6.97934865456773e-06, + 7.052427008602535e-06, + 7.145517429307802e-06, + 7.237369572976604e-06, + 7.331481810979312e-06, + 7.492208624171326e-06, + 7.676947461732198e-06, + 7.878198630351108e-06, + 8.254583917732816e-06, + 8.789306775724981e-06, + 9.408147889189422e-06, + 9.76971750787925e-06, + 1.0015541192842647e-05, + 1.026397330861073e-05, + 1.0369950359745417e-05, + 1.0201631994277705e-05, + 9.846156899584457e-06, + 9.637378752813675e-06, + 9.451865480514243e-06, + 9.180134838970844e-06, + 8.93516971700592e-06, + 9.078551556740422e-06, + 9.222931112162769e-06, + 9.245799446944147e-06, + 9.196362952934578e-06, + 9.178744221571833e-06, + 9.274283002014272e-06, + 9.418910849490203e-06, + 9.599329132470302e-06, + 9.86355371423997e-06, + 1.0065099559142254e-05, + 1.0152248250960838e-05, + 1.0216750524705276e-05, + 1.0289282727171667e-05, + 1.0303939234290738e-05, + 1.028125097946031e-05, + 1.0324971299269237e-05, + 1.0388397640781477e-05, + 1.044616692524869e-05, + 1.0521442163735628e-05, + 1.0480380296939984e-05, + 1.0343578651372809e-05 + ] + ], + "episode_mean_losses": [ + 6.969626577794467e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8853082767454907e-06, + "observation_loss": 2.8853082767454907e-06, + "chamfer": 2.446623966534389e-06, + "track": 4.38684338632811e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.195443034404889e-05, + "observation_loss": 3.1466952350456268e-06, + "chamfer": 2.6611094199324725e-06, + "track": 4.855858719565731e-07, + "acceleration": 3.880773510900326e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.309533374500461e-05, + "observation_loss": 3.196027137164492e-06, + "chamfer": 2.7070641408499796e-06, + "track": 4.889628826276748e-07, + "acceleration": 1.989930751733482e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0101275620399974e-05, + "observation_loss": 3.627315891208127e-06, + "chamfer": 3.059844175368198e-06, + "track": 5.67471715839929e-07, + "acceleration": 6.473960183939198e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.718298325518845e-06, + "observation_loss": 4.141551926295506e-06, + "chamfer": 3.474453023954993e-06, + "track": 6.670987318102561e-07, + "acceleration": 1.5767465129101765e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.477015292854048e-06, + "observation_loss": 4.380271548143355e-06, + "chamfer": 3.6649212233896833e-06, + "track": 7.153504384405096e-07, + "acceleration": 1.0967438583975309e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.7134408305282705e-06, + "observation_loss": 4.143875685258536e-06, + "chamfer": 3.470931233096053e-06, + "track": 6.729445658493205e-07, + "acceleration": 5.695653157999914e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.576671926770359e-06, + "observation_loss": 3.962365553888958e-06, + "chamfer": 3.324443923702347e-06, + "track": 6.379217438734486e-07, + "acceleration": 6.143062591945636e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.354569682618603e-06, + "observation_loss": 3.88522812500014e-06, + "chamfer": 3.2647315038047964e-06, + "track": 6.204966780387622e-07, + "acceleration": 4.693413586664974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.252751296007773e-06, + "observation_loss": 3.955783085984876e-06, + "chamfer": 3.3233843623747816e-06, + "track": 6.32398609923257e-07, + "acceleration": 2.9696821002289653e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.461705430003349e-06, + "observation_loss": 4.3174709389859345e-06, + "chamfer": 3.619533799792407e-06, + "track": 6.979371391935274e-07, + "acceleration": 1.4423447680655954e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.83311623611371e-06, + "observation_loss": 4.739794349006843e-06, + "chamfer": 3.959378318540985e-06, + "track": 7.804160873092769e-07, + "acceleration": 9.332180894716657e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.127479653310729e-06, + "observation_loss": 5.024182428314816e-06, + "chamfer": 4.194101620669244e-06, + "track": 8.300809213324101e-07, + "acceleration": 1.0329708288736583e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.313148449204164e-06, + "observation_loss": 5.20760386280017e-06, + "chamfer": 4.350994458945934e-06, + "track": 8.566095175410737e-07, + "acceleration": 1.0554463614198539e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.25509130966384e-06, + "observation_loss": 5.193356628296897e-06, + "chamfer": 4.342826287029311e-06, + "track": 8.505305686412612e-07, + "acceleration": 6.173481637006262e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.210606559558073e-06, + "observation_loss": 5.0849580475187395e-06, + "chamfer": 4.254120540281292e-06, + "track": 8.308374503940286e-07, + "acceleration": 1.2564829887651285e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.941538009006763e-06, + "observation_loss": 4.738873940368649e-06, + "chamfer": 3.969477802456822e-06, + "track": 7.69396308442083e-07, + "acceleration": 2.0266413969238783e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.700368208432337e-06, + "observation_loss": 4.351866209617583e-06, + "chamfer": 3.648314532256336e-06, + "track": 7.035515068309905e-07, + "acceleration": 3.4850205565817305e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.394290044729132e-06, + "observation_loss": 4.206330686429283e-06, + "chamfer": 3.5234663755545625e-06, + "track": 6.828644245615578e-07, + "acceleration": 1.879592019804477e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.312865257816156e-06, + "observation_loss": 4.204119704809273e-06, + "chamfer": 3.5174991808162304e-06, + "track": 6.866205239930423e-07, + "acceleration": 1.0874561695572993e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.4464541133493185e-06, + "observation_loss": 4.136220013606362e-06, + "chamfer": 3.460078460193472e-06, + "track": 6.761417807865655e-07, + "acceleration": 3.1023409974295646e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.321930191508727e-06, + "observation_loss": 3.9322271732089575e-06, + "chamfer": 3.2923683193075703e-06, + "track": 6.398586833711306e-07, + "acceleration": 3.8970307514318847e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.415740022523096e-06, + "observation_loss": 3.83305723516969e-06, + "chamfer": 3.213432819393347e-06, + "track": 6.196244157763431e-07, + "acceleration": 5.826827873534057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.556218755169539e-06, + "observation_loss": 3.9352430576400366e-06, + "chamfer": 3.2925131563388277e-06, + "track": 6.427300718314655e-07, + "acceleration": 6.209756975295022e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.480313236854272e-06, + "observation_loss": 4.120313406019704e-06, + "chamfer": 3.428873696975643e-06, + "track": 6.914398227308993e-07, + "acceleration": 3.599998024128581e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.7139692469500005e-06, + "observation_loss": 4.426276973390486e-06, + "chamfer": 3.66060271517199e-06, + "track": 7.656740308448207e-07, + "acceleration": 2.87692245137805e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.131272246217122e-06, + "observation_loss": 4.749258096126141e-06, + "chamfer": 3.908915914507816e-06, + "track": 8.403421816183254e-07, + "acceleration": 3.8201429219952843e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.420738034445094e-06, + "observation_loss": 4.826225449505728e-06, + "chamfer": 3.970303168898681e-06, + "track": 8.559223374504654e-07, + "acceleration": 5.945124144091096e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.357586360332789e-06, + "observation_loss": 4.765351604874013e-06, + "chamfer": 3.916040896001505e-06, + "track": 8.493108794027648e-07, + "acceleration": 5.922348691456136e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.083873475086875e-06, + "observation_loss": 4.819384230358992e-06, + "chamfer": 3.963043127441779e-06, + "track": 8.563412734474696e-07, + "acceleration": 2.6448941525814007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.255817995930556e-06, + "observation_loss": 5.099665031593759e-06, + "chamfer": 4.195014753349824e-06, + "track": 9.046502214005159e-07, + "acceleration": 1.5615280801739573e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.57597695660661e-06, + "observation_loss": 5.464475634653354e-06, + "chamfer": 4.478862592804944e-06, + "track": 9.8561304184841e-07, + "acceleration": 1.1150137169124719e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.971091468381928e-06, + "observation_loss": 5.892376975680236e-06, + "chamfer": 4.8197975957009476e-06, + "track": 1.0725793799792882e-06, + "acceleration": 7.871430796058121e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.349916020553792e-06, + "observation_loss": 6.181560820550658e-06, + "chamfer": 5.039550615038024e-06, + "track": 1.142010432886309e-06, + "acceleration": 1.6835522842484352e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.391393071680795e-06, + "observation_loss": 6.199715244292747e-06, + "chamfer": 5.061424417363014e-06, + "track": 1.1382908269297332e-06, + "acceleration": 1.9167799791830475e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.31402645012713e-06, + "observation_loss": 6.134458089945838e-06, + "chamfer": 5.0123735491069965e-06, + "track": 1.1220844271520036e-06, + "acceleration": 1.7956818965103594e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.269078767218161e-06, + "observation_loss": 6.181263415783178e-06, + "chamfer": 5.034986770624528e-06, + "track": 1.146276417784975e-06, + "acceleration": 8.781525906442766e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.6550387600727845e-06, + "observation_loss": 6.2625617829326075e-06, + "chamfer": 5.096343556942884e-06, + "track": 1.1662182259897236e-06, + "acceleration": 3.9247689187504875e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.427357675420353e-06, + "observation_loss": 6.0055845096940175e-06, + "chamfer": 4.90581714984728e-06, + "track": 1.0997675872204127e-06, + "acceleration": 4.2177336467830173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.9452804634929635e-06, + "observation_loss": 5.620367574010743e-06, + "chamfer": 4.601726232067449e-06, + "track": 1.018641228256456e-06, + "acceleration": 3.249127473736735e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.7136849136441015e-06, + "observation_loss": 5.390405931393616e-06, + "chamfer": 4.41372594650602e-06, + "track": 9.766802122612717e-07, + "acceleration": 3.232789254070667e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 5.92753440287197e-06, + "observation_loss": 5.558857537835138e-06, + "chamfer": 4.525236363406293e-06, + "track": 1.0336212881156825e-06, + "acceleration": 3.686766376631567e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.0995530475338455e-06, + "observation_loss": 5.740600045101019e-06, + "chamfer": 4.644126420316752e-06, + "track": 1.0964737384711043e-06, + "acceleration": 3.589529171676986e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.347191629174631e-06, + "observation_loss": 5.944171789451502e-06, + "chamfer": 4.7935591283021495e-06, + "track": 1.1506126611493528e-06, + "acceleration": 4.0301995340996655e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.743596713931765e-06, + "observation_loss": 6.041606866347138e-06, + "chamfer": 4.870023985859007e-06, + "track": 1.1715826531144558e-06, + "acceleration": 7.019898475846276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.446875315508805e-06, + "observation_loss": 6.1275104599189945e-06, + "chamfer": 4.935214292345336e-06, + "track": 1.1922961675736587e-06, + "acceleration": 1.319364741902973e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.219324743346078e-06, + "observation_loss": 6.265000138228061e-06, + "chamfer": 5.0394937716191635e-06, + "track": 1.225506480295735e-06, + "acceleration": 9.5432449143118e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.6232322498981375e-06, + "observation_loss": 6.679696980427252e-06, + "chamfer": 5.355205757950898e-06, + "track": 1.3244913361631916e-06, + "acceleration": 9.435353831577231e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 8.215714842663147e-06, + "observation_loss": 7.207514499896206e-06, + "chamfer": 5.733581019740086e-06, + "track": 1.4739332527824445e-06, + "acceleration": 1.0082002290801029e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.47979845275404e-06, + "observation_loss": 7.5737784754892346e-06, + "chamfer": 6.002291229378898e-06, + "track": 1.5714873597971746e-06, + "acceleration": 9.060203751687368e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.38236701383721e-06, + "observation_loss": 7.458027539541945e-06, + "chamfer": 5.92546712141484e-06, + "track": 1.5325605318139424e-06, + "acceleration": 9.243398153557791e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.309387339977548e-06, + "observation_loss": 7.257754077727441e-06, + "chamfer": 5.786276233266108e-06, + "track": 1.4714777307744953e-06, + "acceleration": 1.0516330348764313e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.609588919876842e-06, + "observation_loss": 7.097306479408871e-06, + "chamfer": 5.662392140948214e-06, + "track": 1.4349144521474955e-06, + "acceleration": 5.122825541548082e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.1190188464242965e-06, + "observation_loss": 6.954322998353746e-06, + "chamfer": 5.553878054342931e-06, + "track": 1.400444830323977e-06, + "acceleration": 1.6469569175114884e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.137670763768256e-06, + "observation_loss": 6.97934865456773e-06, + "chamfer": 5.56959048481076e-06, + "track": 1.4097581697569694e-06, + "acceleration": 1.583222655199279e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.2142693170462735e-06, + "observation_loss": 7.052427008602535e-06, + "chamfer": 5.613866960629821e-06, + "track": 1.4385600479727145e-06, + "acceleration": 1.618420810700627e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.2168809310824145e-06, + "observation_loss": 7.145517429307802e-06, + "chamfer": 5.68042696613702e-06, + "track": 1.465090349483944e-06, + "acceleration": 7.136355151260432e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.428157005051617e-06, + "observation_loss": 7.237369572976604e-06, + "chamfer": 5.7356301113031805e-06, + "track": 1.5017394616734236e-06, + "acceleration": 1.907876310269785e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.933887900435366e-06, + "observation_loss": 7.331481810979312e-06, + "chamfer": 5.80671985517256e-06, + "track": 1.524761842119915e-06, + "acceleration": 6.024064305165666e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.771181455813348e-06, + "observation_loss": 7.492208624171326e-06, + "chamfer": 5.916202098887879e-06, + "track": 1.5760066389702843e-06, + "acceleration": 1.2789732863893732e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.532710464554839e-06, + "observation_loss": 7.676947461732198e-06, + "chamfer": 6.057847713236697e-06, + "track": 1.619099975869176e-06, + "acceleration": 1.8557627754489658e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 9.003488230518997e-06, + "observation_loss": 7.878198630351108e-06, + "chamfer": 6.21279286860954e-06, + "track": 1.6654059891152428e-06, + "acceleration": 1.1252896001678891e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.722984603082296e-06, + "observation_loss": 8.254583917732816e-06, + "chamfer": 6.481210675701732e-06, + "track": 1.7733729009705712e-06, + "acceleration": 4.6840091272315476e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.099288035940845e-06, + "observation_loss": 8.789306775724981e-06, + "chamfer": 6.847044005553471e-06, + "track": 1.9422629975451855e-06, + "acceleration": 3.0998111810731643e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.52033769863192e-06, + "observation_loss": 9.408147889189422e-06, + "chamfer": 7.267935870913789e-06, + "track": 2.1402124730229843e-06, + "acceleration": 1.1218945417112991e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.859173587756231e-06, + "observation_loss": 9.76971750787925e-06, + "chamfer": 7.514675871789223e-06, + "track": 2.2550411813426763e-06, + "acceleration": 8.945616514210997e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0304438546882011e-05, + "observation_loss": 1.0015541192842647e-05, + "chamfer": 7.684096999582835e-06, + "track": 2.3314444206334883e-06, + "acceleration": 2.888977519432956e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0450100489833858e-05, + "observation_loss": 1.026397330861073e-05, + "chamfer": 7.835381438781042e-06, + "track": 2.428592324577039e-06, + "acceleration": 1.861268970060337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0492386536498088e-05, + "observation_loss": 1.0369950359745417e-05, + "chamfer": 7.897927389421966e-06, + "track": 2.4720227429497754e-06, + "acceleration": 1.2243633307207347e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0577126886346377e-05, + "observation_loss": 1.0201631994277705e-05, + "chamfer": 7.779753104841802e-06, + "track": 2.4218791168095777e-06, + "acceleration": 3.7549446574303147e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0831685358425602e-05, + "observation_loss": 9.846156899584457e-06, + "chamfer": 7.555843239970272e-06, + "track": 2.2903134322405094e-06, + "acceleration": 9.855282314674696e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0265910532325506e-05, + "observation_loss": 9.637378752813675e-06, + "chamfer": 7.406859822367551e-06, + "track": 2.230519157819799e-06, + "acceleration": 6.28532063728926e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.700646842247806e-06, + "observation_loss": 9.451865480514243e-06, + "chamfer": 7.274599738593679e-06, + "track": 2.1772652871732134e-06, + "acceleration": 2.4878153226381983e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.429095371160656e-06, + "observation_loss": 9.180134838970844e-06, + "chamfer": 7.073690994729986e-06, + "track": 2.1064440716145327e-06, + "acceleration": 2.489609016720351e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.099518138100393e-06, + "observation_loss": 8.93516971700592e-06, + "chamfer": 6.896821105328854e-06, + "track": 2.038348839050741e-06, + "acceleration": 1.6434877636584133e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.45918964134762e-06, + "observation_loss": 9.078551556740422e-06, + "chamfer": 6.998248863965273e-06, + "track": 2.0803029201488243e-06, + "acceleration": 3.8063845408942143e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.3020298865740187e-05, + "observation_loss": 9.222931112162769e-06, + "chamfer": 7.057556103973184e-06, + "track": 2.1653752355632605e-06, + "acceleration": 3.797367526203743e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.323372998740524e-05, + "observation_loss": 9.245799446944147e-06, + "chamfer": 7.091618954291334e-06, + "track": 2.154180037905462e-06, + "acceleration": 3.987930085713742e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.1094116416643374e-05, + "observation_loss": 9.196362952934578e-06, + "chamfer": 7.040221134957392e-06, + "track": 2.1561420453508617e-06, + "acceleration": 1.8977535773956333e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0724681487772614e-05, + "observation_loss": 9.178744221571833e-06, + "chamfer": 7.011542948021088e-06, + "track": 2.167201273550745e-06, + "acceleration": 1.54593681145343e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 9.947236321750097e-06, + "observation_loss": 9.274283002014272e-06, + "chamfer": 7.0773712650407106e-06, + "track": 2.196911509599886e-06, + "acceleration": 6.729535471095005e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.713583494885825e-06, + "observation_loss": 9.418910849490203e-06, + "chamfer": 7.1556637522007804e-06, + "track": 2.2632475520367734e-06, + "acceleration": 2.946723327568179e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.69431312114466e-06, + "observation_loss": 9.599329132470302e-06, + "chamfer": 7.273096343851648e-06, + "track": 2.3262330159923295e-06, + "acceleration": 9.498401709606696e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 9.953051630873233e-06, + "observation_loss": 9.86355371423997e-06, + "chamfer": 7.456513685610844e-06, + "track": 2.4070402560028015e-06, + "acceleration": 8.949806584723774e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0175524948863313e-05, + "observation_loss": 1.0065099559142254e-05, + "chamfer": 7.593946520501049e-06, + "track": 2.471153493388556e-06, + "acceleration": 1.104253755102036e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0246825695503503e-05, + "observation_loss": 1.0152248250960838e-05, + "chamfer": 7.642784112249501e-06, + "track": 2.5094643660850124e-06, + "acceleration": 9.457760796749426e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0365080925112125e-05, + "observation_loss": 1.0216750524705276e-05, + "chamfer": 7.682151590415742e-06, + "track": 2.5345989342895336e-06, + "acceleration": 1.4833024408744677e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.042811982188141e-05, + "observation_loss": 1.0289282727171667e-05, + "chamfer": 7.717658263572957e-06, + "track": 2.5716249183460604e-06, + "acceleration": 1.3883720839658054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0370795280323364e-05, + "observation_loss": 1.0303939234290738e-05, + "chamfer": 7.721931979176588e-06, + "track": 2.5820074824878247e-06, + "acceleration": 6.685643683113085e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0493507033970673e-05, + "observation_loss": 1.028125097946031e-05, + "chamfer": 7.706274118390866e-06, + "track": 2.574976633695769e-06, + "acceleration": 2.1225636714916618e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.044048804033082e-05, + "observation_loss": 1.0324971299269237e-05, + "chamfer": 7.729887329332996e-06, + "track": 2.595083742562565e-06, + "acceleration": 1.1551630763051435e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0502646546228789e-05, + "observation_loss": 1.0388397640781477e-05, + "chamfer": 7.756250852253288e-06, + "track": 2.6321470159018645e-06, + "acceleration": 1.1424879176047398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0528265192988329e-05, + "observation_loss": 1.044616692524869e-05, + "chamfer": 7.79340280132601e-06, + "track": 2.6527645786700305e-06, + "acceleration": 8.209802615510853e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.059890473698033e-05, + "observation_loss": 1.0521442163735628e-05, + "chamfer": 7.837144039513078e-06, + "track": 2.684298351596226e-06, + "acceleration": 7.746219665705212e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0594460945867468e-05, + "observation_loss": 1.0480380296939984e-05, + "chamfer": 7.815424396540038e-06, + "track": 2.6649563551472966e-06, + "acceleration": 1.1408066313833842e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0433258466946427e-05, + "observation_loss": 1.0343578651372809e-05, + "chamfer": 7.729220669716597e-06, + "track": 2.6143579816562124e-06, + "acceleration": 8.96796166216518e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.131336078539183e-06, + "chamfer_mean": 5.49340195732384e-06, + "track_mean": 1.4762246782022241e-06, + "acceleration_mean": 1.1617095146595109e-06, + "observation_score": 6.969626577794467e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4304137060007633 + }, + "score_arrays_file": "pass_scores/pass_end_0374.npz", + "score_arrays_sha256": "6a8268caeca1e1d2996545a83b005ef5cbc2e1f52ba7a75a14f68caa246bbb28" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0375.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0375.json new file mode 100644 index 0000000000000000000000000000000000000000..ae69072b834d882fd5a436afdff96f0c7670b294 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0375.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 36000, + "completed_passes": 375, + "snapshot": "pass_end_0375", + "candidate": true, + "snapshot_arrays_sha256": "9da6d44301561f0a695dad52906fde16574926136d73b3ca9f07189d5fb81598", + "score": 6.969670899081848e-06, + "score_result": { + "score": 6.969670899081848e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8856575227109715e-06, + 3.1463873710890766e-06, + 3.1949950880516553e-06, + 3.626255875133211e-06, + 4.139995780860772e-06, + 4.378603080112953e-06, + 4.142703801335301e-06, + 3.960958565585315e-06, + 3.883447789121419e-06, + 3.953739451389993e-06, + 4.3151703721378e-06, + 4.73675072498736e-06, + 5.020870048610959e-06, + 5.204012722970219e-06, + 5.189227522350848e-06, + 5.080744813312776e-06, + 4.735162747238064e-06, + 4.3480436033860315e-06, + 4.202976469969144e-06, + 4.2003034650406335e-06, + 4.131408331886632e-06, + 3.926340014004381e-06, + 3.828679382422706e-06, + 3.933575044356985e-06, + 4.122112386539811e-06, + 4.429669388628099e-06, + 4.75049910164671e-06, + 4.825814357900526e-06, + 4.765239282278344e-06, + 4.820843969355337e-06, + 5.1019806051044725e-06, + 5.4681709116266575e-06, + 5.896461516385898e-06, + 6.18551712250337e-06, + 6.202839813340688e-06, + 6.13782958680531e-06, + 6.184119683894096e-06, + 6.264122930588201e-06, + 6.007865522406064e-06, + 5.621791842713719e-06, + 5.389063062466448e-06, + 5.554271410801448e-06, + 5.735990725952433e-06, + 5.9386752582213376e-06, + 6.038147148501594e-06, + 6.122913873696234e-06, + 6.262438546400517e-06, + 6.680455499008531e-06, + 7.206160262285266e-06, + 7.570772140752524e-06, + 7.454347269231221e-06, + 7.2581233325763606e-06, + 7.098965852492256e-06, + 6.956469860597281e-06, + 6.9840157266298775e-06, + 7.0581018007942475e-06, + 7.1516660682391375e-06, + 7.243821983138332e-06, + 7.338778232224286e-06, + 7.5010179898526985e-06, + 7.687232937314548e-06, + 7.889631888247095e-06, + 8.267545126727782e-06, + 8.804042408883106e-06, + 9.424226846022066e-06, + 9.787325325305574e-06, + 1.0034221304522362e-05, + 1.0282214134349488e-05, + 1.03854854387464e-05, + 1.0215338079433423e-05, + 9.85821861831937e-06, + 9.647722436056938e-06, + 9.460896762902848e-06, + 9.188146577798761e-06, + 8.94245931704063e-06, + 9.08201855054358e-06, + 9.223427696269937e-06, + 9.2472628239193e-06, + 9.198685802402906e-06, + 9.174649676424451e-06, + 9.26763914321782e-06, + 9.41212238103617e-06, + 9.590331501385663e-06, + 9.854344170889817e-06, + 1.0054979611595627e-05, + 1.0142244718736038e-05, + 1.0206884326180443e-05, + 1.0279903108312283e-05, + 1.0293897503288463e-05, + 1.0270146958646365e-05, + 1.0312662197975442e-05, + 1.0375299098086543e-05, + 1.0432019735162612e-05, + 1.0506442777113989e-05, + 1.0465719242347404e-05, + 1.0327934433007613e-05 + ] + ], + "episode_mean_losses": [ + 6.969670899081848e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8856575227109715e-06, + "observation_loss": 2.8856575227109715e-06, + "chamfer": 2.4469020445394563e-06, + "track": 4.3875553501493414e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.196773443254642e-05, + "observation_loss": 3.1463873710890766e-06, + "chamfer": 2.660849986568792e-06, + "track": 4.855373845202848e-07, + "acceleration": 3.88213484256994e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.3103637431631796e-05, + "observation_loss": 3.1949950880516553e-06, + "chamfer": 2.706201485125348e-06, + "track": 4.887936597697262e-07, + "acceleration": 1.9908642570953816e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0105452929565217e-05, + "observation_loss": 3.626255875133211e-06, + "chamfer": 3.0589671951020136e-06, + "track": 5.672887937180349e-07, + "acceleration": 6.4791970544320066e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.722925379814114e-06, + "observation_loss": 4.139995780860772e-06, + "chamfer": 3.4731783671304584e-06, + "track": 6.668174705737329e-07, + "acceleration": 1.5829294852665043e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.476623300637584e-06, + "observation_loss": 4.378603080112953e-06, + "chamfer": 3.6635685773944715e-06, + "track": 7.150347300921567e-07, + "acceleration": 1.0980202205246314e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.709660970547702e-06, + "observation_loss": 4.142703801335301e-06, + "chamfer": 3.4699623938649893e-06, + "track": 6.727411800966365e-07, + "acceleration": 5.669572260558198e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.572184025164461e-06, + "observation_loss": 3.960958565585315e-06, + "chamfer": 3.3232697660423582e-06, + "track": 6.37688799542957e-07, + "acceleration": 6.112254027357267e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.350375547801377e-06, + "observation_loss": 3.883447789121419e-06, + "chamfer": 3.2632401598675642e-06, + "track": 6.202078566275304e-07, + "acceleration": 4.669279007885052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.249707217240939e-06, + "observation_loss": 3.953739451389993e-06, + "chamfer": 3.3216749670827994e-06, + "track": 6.320646548374498e-07, + "acceleration": 2.9596779427265574e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.458903276827186e-06, + "observation_loss": 4.3151703721378e-06, + "chamfer": 3.617643415054772e-06, + "track": 6.975270139264467e-07, + "acceleration": 1.4373294732195063e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.830265424971003e-06, + "observation_loss": 4.73675072498736e-06, + "chamfer": 3.956897671741899e-06, + "track": 7.79852882715204e-07, + "acceleration": 9.351465024565186e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.124217750562821e-06, + "observation_loss": 5.020870048610959e-06, + "chamfer": 4.191412699583452e-06, + "track": 8.294572353406693e-07, + "acceleration": 1.0334775879528024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.309125299390871e-06, + "observation_loss": 5.204012722970219e-06, + "chamfer": 4.348086349637015e-06, + "track": 8.559263164897857e-07, + "acceleration": 1.0511270431834419e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.251149104879005e-06, + "observation_loss": 5.189227522350848e-06, + "chamfer": 4.339458428148646e-06, + "track": 8.497692078890395e-07, + "acceleration": 6.192159673901187e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.206728474149713e-06, + "observation_loss": 5.080744813312776e-06, + "chamfer": 4.250678557582432e-06, + "track": 8.300663125737628e-07, + "acceleration": 1.2598381715633877e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.938254278386012e-06, + "observation_loss": 4.735162747238064e-06, + "chamfer": 3.966430995205883e-06, + "track": 7.687319225624378e-07, + "acceleration": 2.0309134640683624e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.696976702689426e-06, + "observation_loss": 4.3480436033860315e-06, + "chamfer": 3.645142214736552e-06, + "track": 7.029015591797361e-07, + "acceleration": 3.48932928773138e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.39033374277642e-06, + "observation_loss": 4.202976469969144e-06, + "chamfer": 3.5206705888413126e-06, + "track": 6.823057674409938e-07, + "acceleration": 1.873571022770193e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.3078503040305804e-06, + "observation_loss": 4.2003034650406335e-06, + "chamfer": 3.5143373224855168e-06, + "track": 6.85966028868279e-07, + "acceleration": 1.075468887279385e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.441285000211792e-06, + "observation_loss": 4.131408331886632e-06, + "chamfer": 3.4560957828944083e-06, + "track": 6.753123784619675e-07, + "acceleration": 3.098768388554163e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.311440079618478e-06, + "observation_loss": 3.926340014004381e-06, + "chamfer": 3.28745636579697e-06, + "track": 6.388834776771546e-07, + "acceleration": 3.8509989508384024e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.394005372887477e-06, + "observation_loss": 3.828679382422706e-06, + "chamfer": 3.2097154871735256e-06, + "track": 6.189637247189239e-07, + "acceleration": 5.653261041516089e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.531950253294781e-06, + "observation_loss": 3.933575044356985e-06, + "chamfer": 3.29104454976914e-06, + "track": 6.425304377444263e-07, + "acceleration": 5.983753794680524e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.476724825508427e-06, + "observation_loss": 4.122112386539811e-06, + "chamfer": 3.4302745461900486e-06, + "track": 6.91837726662925e-07, + "acceleration": 3.546126379205816e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.718700438388623e-06, + "observation_loss": 4.429669388628099e-06, + "chamfer": 3.6632427509175614e-06, + "track": 7.664266377105378e-07, + "acceleration": 2.890309644953959e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.140860594110563e-06, + "observation_loss": 4.75049910164671e-06, + "chamfer": 3.909958195436047e-06, + "track": 8.405408493672439e-07, + "acceleration": 3.903616629941098e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.440872428152943e-06, + "observation_loss": 4.825814357900526e-06, + "chamfer": 3.970193120039767e-06, + "track": 8.556211810173409e-07, + "acceleration": 6.150578997221601e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.3617573030351195e-06, + "observation_loss": 4.765239282278344e-06, + "chamfer": 3.9160217966127675e-06, + "track": 8.4921731513532e-07, + "acceleration": 5.965180207567755e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.086895725980867e-06, + "observation_loss": 4.820843969355337e-06, + "chamfer": 3.964043116866378e-06, + "track": 8.568008524889592e-07, + "acceleration": 2.6605155767356337e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.254067218629643e-06, + "observation_loss": 5.1019806051044725e-06, + "chamfer": 4.196695044811349e-06, + "track": 9.052857308233797e-07, + "acceleration": 1.5208679826628213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.574656825046986e-06, + "observation_loss": 5.4681709116266575e-06, + "chamfer": 4.481554697122192e-06, + "track": 9.866161008176277e-07, + "acceleration": 1.0648572867921757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.974823125143303e-06, + "observation_loss": 5.896461516385898e-06, + "chamfer": 4.822659775527427e-06, + "track": 1.0738019682321465e-06, + "acceleration": 7.836166560082347e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.3525808400299866e-06, + "observation_loss": 6.18551712250337e-06, + "chamfer": 5.042295924795326e-06, + "track": 1.1432214250817196e-06, + "acceleration": 1.6706357541806938e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.391966053342912e-06, + "observation_loss": 6.202839813340688e-06, + "chamfer": 5.063548542239005e-06, + "track": 1.1392911574148457e-06, + "acceleration": 1.8912628263478837e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.3154038798529655e-06, + "observation_loss": 6.13782958680531e-06, + "chamfer": 5.0149851631431375e-06, + "track": 1.122844651035848e-06, + "acceleration": 1.7757420778252708e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.268584002100397e-06, + "observation_loss": 6.184119683894096e-06, + "chamfer": 5.0373905651213136e-06, + "track": 1.1467292324596201e-06, + "acceleration": 8.446409083262552e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.651211151620373e-06, + "observation_loss": 6.264122930588201e-06, + "chamfer": 5.09779829371837e-06, + "track": 1.1663248642435065e-06, + "acceleration": 3.8708805050191586e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.415876669052523e-06, + "observation_loss": 6.007865522406064e-06, + "chamfer": 4.9077025323640555e-06, + "track": 1.1001628763551707e-06, + "acceleration": 4.080110045379115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.920841886108974e-06, + "observation_loss": 5.621791842713719e-06, + "chamfer": 4.60298360849265e-06, + "track": 1.0188082342210691e-06, + "acceleration": 2.9905021392551134e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.698423592548352e-06, + "observation_loss": 5.389063062466448e-06, + "chamfer": 4.412679118104279e-06, + "track": 9.763839443621691e-07, + "acceleration": 3.0936070061216014e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 5.917147973377723e-06, + "observation_loss": 5.554271410801448e-06, + "chamfer": 4.5216579565021675e-06, + "track": 1.0326133406124427e-06, + "acceleration": 3.628765625762753e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.069702521926956e-06, + "observation_loss": 5.735990725952433e-06, + "chamfer": 4.640255156118656e-06, + "track": 1.0957356835206156e-06, + "acceleration": 3.337118812396511e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.2981248447613325e-06, + "observation_loss": 5.9386752582213376e-06, + "chamfer": 4.789074864675058e-06, + "track": 1.1496005072331172e-06, + "acceleration": 3.594495865399949e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.681150352960685e-06, + "observation_loss": 6.038147148501594e-06, + "chamfer": 4.86715316583286e-06, + "track": 1.170994096355571e-06, + "acceleration": 6.430033749893482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.305910457944265e-06, + "observation_loss": 6.122913873696234e-06, + "chamfer": 4.9315622163703665e-06, + "track": 1.1913514299521921e-06, + "acceleration": 1.1829965842480306e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.15425267117098e-06, + "observation_loss": 6.262438546400517e-06, + "chamfer": 5.0373705562378746e-06, + "track": 1.2250677627889672e-06, + "acceleration": 8.918138973967871e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.639455361641012e-06, + "observation_loss": 6.680455499008531e-06, + "chamfer": 5.355562734621344e-06, + "track": 1.3248927643871866e-06, + "acceleration": 9.589998626324814e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 8.2589876910788e-06, + "observation_loss": 7.206160262285266e-06, + "chamfer": 5.7326101341459434e-06, + "track": 1.4735499007656472e-06, + "acceleration": 1.052827315106697e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.5282044892665e-06, + "observation_loss": 7.570772140752524e-06, + "chamfer": 6.000128450978082e-06, + "track": 1.5706435760876047e-06, + "acceleration": 9.574323485139757e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.413281648245174e-06, + "observation_loss": 7.454347269231221e-06, + "chamfer": 5.922823220316786e-06, + "track": 1.5315241626012721e-06, + "acceleration": 9.58934720074467e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.29863620310789e-06, + "observation_loss": 7.2581233325763606e-06, + "chamfer": 5.786760084447451e-06, + "track": 1.4713630207552342e-06, + "acceleration": 1.0405132115920424e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.653867214685306e-06, + "observation_loss": 7.098965852492256e-06, + "chamfer": 5.66381140743033e-06, + "track": 1.4351545587487635e-06, + "acceleration": 5.549010779759556e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.128706329240231e-06, + "observation_loss": 6.956469860597281e-06, + "chamfer": 5.555677034863038e-06, + "track": 1.4007929394210805e-06, + "acceleration": 1.722363123235482e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1568210842087865e-06, + "observation_loss": 6.9840157266298775e-06, + "chamfer": 5.573293492489029e-06, + "track": 1.4107222341408487e-06, + "acceleration": 1.728052438920713e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.222725344036007e-06, + "observation_loss": 7.0581018007942475e-06, + "chamfer": 5.618404884444317e-06, + "track": 1.4396969163499307e-06, + "acceleration": 1.646233869223579e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.224367891467409e-06, + "observation_loss": 7.1516660682391375e-06, + "chamfer": 5.6853191381378565e-06, + "track": 1.4663468164144433e-06, + "acceleration": 7.270190138797261e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.435573479597224e-06, + "observation_loss": 7.243821983138332e-06, + "chamfer": 5.740825145039707e-06, + "track": 1.5029968380986247e-06, + "acceleration": 1.9175163856743893e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.943101081764325e-06, + "observation_loss": 7.338778232224286e-06, + "chamfer": 5.812488325318554e-06, + "track": 1.5262901342794066e-06, + "acceleration": 6.043229063834588e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.784052624832839e-06, + "observation_loss": 7.5010179898526985e-06, + "chamfer": 5.923132448515389e-06, + "track": 1.5778855413373094e-06, + "acceleration": 1.2830350897274911e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.548009074933361e-06, + "observation_loss": 7.687232937314548e-06, + "chamfer": 6.065756679163314e-06, + "track": 1.6214764855249086e-06, + "acceleration": 1.8607763649924891e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 9.016379408421926e-06, + "observation_loss": 7.889631888247095e-06, + "chamfer": 6.221310286491644e-06, + "track": 1.6683219428159646e-06, + "acceleration": 1.1267476338616689e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.737388270674273e-06, + "observation_loss": 8.267545126727782e-06, + "chamfer": 6.490794476121664e-06, + "track": 1.7767509916666313e-06, + "acceleration": 4.698427176208497e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.113335181609727e-06, + "observation_loss": 8.804042408883106e-06, + "chamfer": 6.857741936983075e-06, + "track": 1.9463002445263555e-06, + "acceleration": 3.092926874614932e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.535766366752796e-06, + "observation_loss": 9.424226846022066e-06, + "chamfer": 7.279332294274354e-06, + "track": 2.144894779121387e-06, + "acceleration": 1.1153957757414901e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.876037438516505e-06, + "observation_loss": 9.787325325305574e-06, + "chamfer": 7.5269563239999115e-06, + "track": 2.2603687739319867e-06, + "acceleration": 8.871173662328147e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.032236741593806e-05, + "observation_loss": 1.0034221304522362e-05, + "chamfer": 7.697050932620186e-06, + "track": 2.3371701445285e-06, + "acceleration": 2.8814594088544254e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.046730176312849e-05, + "observation_loss": 1.0282214134349488e-05, + "chamfer": 7.848170753277373e-06, + "track": 2.4340429263247643e-06, + "acceleration": 1.8508727350763365e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0505594218557235e-05, + "observation_loss": 1.03854854387464e-05, + "chamfer": 7.908822226454504e-06, + "track": 2.4766627575445455e-06, + "acceleration": 1.2010903560621955e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.058867019310128e-05, + "observation_loss": 1.0215338079433423e-05, + "chamfer": 7.789330993546173e-06, + "track": 2.426007313260925e-06, + "acceleration": 3.733321989329852e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0840094546438195e-05, + "observation_loss": 9.85821861831937e-06, + "chamfer": 7.5641701187123545e-06, + "track": 2.294048726980691e-06, + "acceleration": 9.818761554925004e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.027594134939136e-05, + "observation_loss": 9.647722436056938e-06, + "chamfer": 7.414015271933749e-06, + "track": 2.233707391496864e-06, + "acceleration": 6.282186291173275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.70778455666732e-06, + "observation_loss": 9.460896762902848e-06, + "chamfer": 7.280842964973999e-06, + "track": 2.1800542526762e-06, + "acceleration": 2.46887992716438e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.432706974621397e-06, + "observation_loss": 9.188146577798761e-06, + "chamfer": 7.079065198922763e-06, + "track": 2.109080924128648e-06, + "acceleration": 2.4456028313579736e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.099983799387701e-06, + "observation_loss": 8.94245931704063e-06, + "chamfer": 6.901700999151217e-06, + "track": 2.0407587726367638e-06, + "acceleration": 1.5752468129903718e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.442950613447465e-06, + "observation_loss": 9.08201855054358e-06, + "chamfer": 7.00096097716596e-06, + "track": 2.081057800751296e-06, + "acceleration": 3.6093231869926967e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.3135400877217762e-05, + "observation_loss": 9.223427696269937e-06, + "chamfer": 7.0575933932559565e-06, + "track": 2.165834075640305e-06, + "acceleration": 3.9119727262004744e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.3312788723851554e-05, + "observation_loss": 9.2472628239193e-06, + "chamfer": 7.0919268182478845e-06, + "track": 2.1553360056714155e-06, + "acceleration": 4.065525445184903e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.1114845619886182e-05, + "observation_loss": 9.198685802402906e-06, + "chamfer": 7.042197921691695e-06, + "track": 2.1564876533375354e-06, + "acceleration": 1.9161600448569516e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0700488019210752e-05, + "observation_loss": 9.174649676424451e-06, + "chamfer": 7.008257398410933e-06, + "track": 2.166391823266167e-06, + "acceleration": 1.525838683846814e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 9.91707929642871e-06, + "observation_loss": 9.26763914321782e-06, + "chamfer": 7.07273375155637e-06, + "track": 2.1949053916614503e-06, + "acceleration": 6.494400395240518e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.700251212052535e-06, + "observation_loss": 9.41212238103617e-06, + "chamfer": 7.151465069910046e-06, + "track": 2.2606575384997996e-06, + "acceleration": 2.8812860364269e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.685170880402438e-06, + "observation_loss": 9.590331501385663e-06, + "chamfer": 7.267281944223214e-06, + "track": 2.323049784536124e-06, + "acceleration": 9.483957086331429e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 9.944038538378663e-06, + "observation_loss": 9.854344170889817e-06, + "chamfer": 7.450794782926096e-06, + "track": 2.403549615337397e-06, + "acceleration": 8.96943816997009e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0166093488805927e-05, + "observation_loss": 1.0054979611595627e-05, + "chamfer": 7.587259460706264e-06, + "track": 2.4677199235156877e-06, + "acceleration": 1.1111343667380424e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0236622983939014e-05, + "observation_loss": 1.0142244718736038e-05, + "chamfer": 7.636126611032523e-06, + "track": 2.5061176529561635e-06, + "acceleration": 9.437796677502774e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0354979167459533e-05, + "observation_loss": 1.0206884326180443e-05, + "chamfer": 7.675603228562977e-06, + "track": 2.531281097617466e-06, + "acceleration": 1.480944291643027e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.041773703036597e-05, + "observation_loss": 1.0279903108312283e-05, + "chamfer": 7.711417310929392e-06, + "track": 2.5684855700092157e-06, + "acceleration": 1.3783369468001183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0361001841374673e-05, + "observation_loss": 1.0293897503288463e-05, + "chamfer": 7.71543363953242e-06, + "track": 2.578463863756042e-06, + "acceleration": 6.710416755595361e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0480954188096803e-05, + "observation_loss": 1.0270146958646365e-05, + "chamfer": 7.699045454501174e-06, + "track": 2.5711012767715147e-06, + "acceleration": 2.10806987865908e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0426343578728847e-05, + "observation_loss": 1.0312662197975442e-05, + "chamfer": 7.721911060798448e-06, + "track": 2.590750909803319e-06, + "acceleration": 1.1368133101541389e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0489649866940454e-05, + "observation_loss": 1.0375299098086543e-05, + "chamfer": 7.747770723653957e-06, + "track": 2.6275279196852352e-06, + "acceleration": 1.1435048463681596e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0513937013456598e-05, + "observation_loss": 1.0432019735162612e-05, + "chamfer": 7.784277840983123e-06, + "track": 2.647742121553165e-06, + "acceleration": 8.19173067156953e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.058392535924213e-05, + "observation_loss": 1.0506442777113989e-05, + "chamfer": 7.827384251868352e-06, + "track": 2.6790589799929876e-06, + "acceleration": 7.748280239638916e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.0580716661934275e-05, + "observation_loss": 1.0465719242347404e-05, + "chamfer": 7.806195753801148e-06, + "track": 2.659523943293607e-06, + "acceleration": 1.149972206349048e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.0418115380161908e-05, + "observation_loss": 1.0327934433007613e-05, + "chamfer": 7.719015229668003e-06, + "track": 2.608918975965935e-06, + "acceleration": 9.018085478373905e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.130679276519004e-06, + "chamfer_mean": 5.493484756868838e-06, + "track_mean": 1.4761861422130096e-06, + "acceleration_mean": 1.1610083688514312e-06, + "observation_score": 6.969670899081848e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4142173079999338 + }, + "score_arrays_file": "pass_scores/pass_end_0375.npz", + "score_arrays_sha256": "9e10ab9ccbf5c1633d39db94478e2275ab20e542016d4e179258f5ba53ad2977" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0376.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0376.json new file mode 100644 index 0000000000000000000000000000000000000000..65e3ad23dff2766f7e366de350ce12c1425b0b01 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0376.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 36096, + "completed_passes": 376, + "snapshot": "pass_end_0376", + "candidate": true, + "snapshot_arrays_sha256": "4ceca8cb42890b0be45a215bd55b9985a82917b24a69ebcb0c16b02d6780d927", + "score": 6.968912060756338e-06, + "score_result": { + "score": 6.968912060756338e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.8860108614026103e-06, + 3.146067001580377e-06, + 3.193991460648249e-06, + 3.624993951234501e-06, + 4.138214990234701e-06, + 4.37667813457665e-06, + 4.1412331484025344e-06, + 3.959588411817094e-06, + 3.881933480442967e-06, + 3.952022780140396e-06, + 4.313262707000831e-06, + 4.7341318349936046e-06, + 5.017443982069381e-06, + 5.200185569265159e-06, + 5.185141162655782e-06, + 5.076698471384589e-06, + 4.731333319796249e-06, + 4.344383341958746e-06, + 4.199757313472219e-06, + 4.196484496787889e-06, + 4.126554813410621e-06, + 3.920555172953755e-06, + 3.8244520510488655e-06, + 3.932246727345046e-06, + 4.124377937841928e-06, + 4.434474703884916e-06, + 4.753375833388418e-06, + 4.82616997032892e-06, + 4.765987796417903e-06, + 4.823086783289909e-06, + 5.1044398787780665e-06, + 5.47133731743088e-06, + 5.8994555729441345e-06, + 6.187939561641542e-06, + 6.204722922120709e-06, + 6.139855031506158e-06, + 6.185806796565885e-06, + 6.2648846324009355e-06, + 6.009196113154758e-06, + 5.623247034236556e-06, + 5.388193585531553e-06, + 5.550654350372497e-06, + 5.732098998123547e-06, + 5.934078217251226e-06, + 6.032994406268699e-06, + 6.119235877122264e-06, + 6.258805115066934e-06, + 6.677570581814507e-06, + 7.201795597211458e-06, + 7.5628240665537305e-06, + 7.447785264957929e-06, + 7.256988737935899e-06, + 7.097102752595674e-06, + 6.954936452530092e-06, + 6.987067081354326e-06, + 7.062906661303714e-06, + 7.15629948899732e-06, + 7.248855581565294e-06, + 7.3448304647172336e-06, + 7.506635483878199e-06, + 7.693817678955384e-06, + 7.89609293860849e-06, + 8.274513675132766e-06, + 8.812154192128219e-06, + 9.433651030121837e-06, + 9.799277904676273e-06, + 1.0047893738374114e-05, + 1.0295634638168849e-05, + 1.0395975550636649e-05, + 1.022390915750293e-05, + 9.865956599242054e-06, + 9.65420804277528e-06, + 9.466960364079569e-06, + 9.193912774208002e-06, + 8.948903996497393e-06, + 9.084633347811177e-06, + 9.22415802051546e-06, + 9.25083804759197e-06, + 9.203269655699842e-06, + 9.173200851364527e-06, + 9.263410902349278e-06, + 9.407014658791013e-06, + 9.583238352206536e-06, + 9.847093679127283e-06, + 1.0046717761724722e-05, + 1.0133516298083123e-05, + 1.0198175004916266e-05, + 1.0271378414472565e-05, + 1.0284778909408487e-05, + 1.0259522241540253e-05, + 1.0300950634700712e-05, + 1.03627598946332e-05, + 1.0418380952614825e-05, + 1.0491870853002183e-05, + 1.0451607522554696e-05, + 1.0312797712686006e-05 + ] + ], + "episode_mean_losses": [ + 6.968912060756338e-06 + ], + "loss_breakdown": { + "loss_id": "source_tracked_observation_chamfer_track_acc_v1", + "stages": [ + "cma" + ], + "chamfer_weight": 1.0, + "track_weight": 1.0, + "acceleration_weight": 0.01, + "smooth_l1_beta": 1.0, + "denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators", + "reduction": "mean_over_episodes(mean_over_transitions(stage loss))", + "integration_substep_dt_s": 4.9975012493753125e-05, + "integration_num_substeps": 667, + "episodes": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transitions": [ + { + "transition_index": 0, + "loss": 2.8860108614026103e-06, + "observation_loss": 2.8860108614026103e-06, + "chamfer": 2.4471833057759795e-06, + "track": 4.3882744193979306e-07, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 92, + 93 + ], + "times_s": [ + 0.0, + 0.03333333333333333 + ], + "finite": true + }, + { + "transition_index": 1, + "loss": 4.1981129470514134e-05, + "observation_loss": 3.146067001580377e-06, + "chamfer": 2.660579184521339e-06, + "track": 4.854878170590382e-07, + "acceleration": 3.8835063605802134e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 93, + 94 + ], + "times_s": [ + 0.03333333333333333, + 0.06666666666666667 + ], + "finite": true + }, + { + "transition_index": 2, + "loss": 2.311067328264471e-05, + "observation_loss": 3.193991460648249e-06, + "chamfer": 2.7053615667682607e-06, + "track": 4.886298938799882e-07, + "acceleration": 1.991668250411749e-05, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 94, + 95 + ], + "times_s": [ + 0.06666666666666667, + 0.1 + ], + "finite": true + }, + { + "transition_index": 3, + "loss": 1.0107889465871267e-05, + "observation_loss": 3.624993951234501e-06, + "chamfer": 3.0579233225580538e-06, + "track": 5.670706286764471e-07, + "acceleration": 6.482895969384117e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 95, + 96 + ], + "times_s": [ + 0.1, + 0.13333333333333333 + ], + "finite": true + }, + { + "transition_index": 4, + "loss": 5.7264414863311686e-06, + "observation_loss": 4.138214990234701e-06, + "chamfer": 3.471729996817885e-06, + "track": 6.66484993416816e-07, + "acceleration": 1.5882266097833053e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 96, + 97 + ], + "times_s": [ + 0.13333333333333333, + 0.16666666666666666 + ], + "finite": true + }, + { + "transition_index": 5, + "loss": 5.475686066347407e-06, + "observation_loss": 4.37667813457665e-06, + "chamfer": 3.6620151604438433e-06, + "track": 7.146628604459693e-07, + "acceleration": 1.0990079317707568e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 97, + 98 + ], + "times_s": [ + 0.16666666666666666, + 0.2 + ], + "finite": true + }, + { + "transition_index": 6, + "loss": 4.7057224037416745e-06, + "observation_loss": 4.1412331484025344e-06, + "chamfer": 3.4687507195485523e-06, + "track": 6.724825425408198e-07, + "acceleration": 5.644893690259778e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 98, + 99 + ], + "times_s": [ + 0.2, + 0.23333333333333334 + ], + "finite": true + }, + { + "transition_index": 7, + "loss": 4.56822863270645e-06, + "observation_loss": 3.959588411817094e-06, + "chamfer": 3.322124712212826e-06, + "track": 6.374636996042682e-07, + "acceleration": 6.086400503590994e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 99, + 100 + ], + "times_s": [ + 0.23333333333333334, + 0.26666666666666666 + ], + "finite": true + }, + { + "transition_index": 8, + "loss": 4.3475870370457415e-06, + "observation_loss": 3.881933480442967e-06, + "chamfer": 3.261963684053626e-06, + "track": 6.199699100761791e-07, + "acceleration": 4.6565361344619305e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 100, + 101 + ], + "times_s": [ + 0.26666666666666666, + 0.3 + ], + "finite": true + }, + { + "transition_index": 9, + "loss": 4.247611286700703e-06, + "observation_loss": 3.952022780140396e-06, + "chamfer": 3.3202395570697263e-06, + "track": 6.317830525404133e-07, + "acceleration": 2.955883928734693e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 101, + 102 + ], + "times_s": [ + 0.3, + 0.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 10, + "loss": 4.45691466666176e-06, + "observation_loss": 4.313262707000831e-06, + "chamfer": 3.61607271770481e-06, + "track": 6.971899324526021e-07, + "acceleration": 1.4365194545007398e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 102, + 103 + ], + "times_s": [ + 0.3333333333333333, + 0.36666666666666664 + ], + "finite": true + }, + { + "transition_index": 11, + "loss": 4.8279448492394295e-06, + "observation_loss": 4.7341318349936046e-06, + "chamfer": 3.954761723434785e-06, + "track": 7.793698841851437e-07, + "acceleration": 9.38127939775768e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 103, + 104 + ], + "times_s": [ + 0.36666666666666664, + 0.4 + ], + "finite": true + }, + { + "transition_index": 12, + "loss": 5.1208899094490334e-06, + "observation_loss": 5.017443982069381e-06, + "chamfer": 4.188624643575167e-06, + "track": 8.288195658678887e-07, + "acceleration": 1.034457852711057e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 104, + 105 + ], + "times_s": [ + 0.4, + 0.43333333333333335 + ], + "finite": true + }, + { + "transition_index": 13, + "loss": 5.3050462156534195e-06, + "observation_loss": 5.200185569265159e-06, + "chamfer": 4.34498042523046e-06, + "track": 8.552052008781175e-07, + "acceleration": 1.0486080270766251e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 105, + 106 + ], + "times_s": [ + 0.43333333333333335, + 0.4666666666666667 + ], + "finite": true + }, + { + "transition_index": 14, + "loss": 5.247136869002134e-06, + "observation_loss": 5.185141162655782e-06, + "chamfer": 4.33612603956135e-06, + "track": 8.490150094075943e-07, + "acceleration": 6.199577029519787e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 106, + 107 + ], + "times_s": [ + 0.4666666666666667, + 0.5 + ], + "finite": true + }, + { + "transition_index": 15, + "loss": 5.202545253268909e-06, + "observation_loss": 5.076698471384589e-06, + "chamfer": 4.24737345383619e-06, + "track": 8.293251880786556e-07, + "acceleration": 1.2584682451688423e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 107, + 108 + ], + "times_s": [ + 0.5, + 0.5333333333333333 + ], + "finite": true + }, + { + "transition_index": 16, + "loss": 4.93387233291287e-06, + "observation_loss": 4.731333319796249e-06, + "chamfer": 3.963282779295696e-06, + "track": 7.680505405005533e-07, + "acceleration": 2.0253906996003934e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 108, + 109 + ], + "times_s": [ + 0.5333333333333333, + 0.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 17, + "loss": 4.693035862146644e-06, + "observation_loss": 4.344383341958746e-06, + "chamfer": 3.642098135969718e-06, + "track": 7.022852059890283e-07, + "acceleration": 3.486525201878976e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 109, + 110 + ], + "times_s": [ + 0.5666666666666667, + 0.6 + ], + "finite": true + }, + { + "transition_index": 18, + "loss": 4.386699401948135e-06, + "observation_loss": 4.199757313472219e-06, + "chamfer": 3.5179834867449244e-06, + "track": 6.817736561970378e-07, + "acceleration": 1.8694223058446369e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 110, + 111 + ], + "times_s": [ + 0.6, + 0.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 19, + "loss": 4.30298678111285e-06, + "observation_loss": 4.196484496787889e-06, + "chamfer": 3.511167733449838e-06, + "track": 6.853165928077942e-07, + "acceleration": 1.0650215642726835e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 111, + 112 + ], + "times_s": [ + 0.6333333333333333, + 0.6666666666666666 + ], + "finite": true + }, + { + "transition_index": 20, + "loss": 4.436580638866872e-06, + "observation_loss": 4.126554813410621e-06, + "chamfer": 3.4520710414653877e-06, + "track": 6.744836582583957e-07, + "acceleration": 3.10025598082575e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 112, + 113 + ], + "times_s": [ + 0.6666666666666666, + 0.7 + ], + "finite": true + }, + { + "transition_index": 21, + "loss": 4.306005394028034e-06, + "observation_loss": 3.920555172953755e-06, + "chamfer": 3.2826287679199595e-06, + "track": 6.379264050337952e-07, + "acceleration": 3.8545044844795484e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 113, + 114 + ], + "times_s": [ + 0.7, + 0.7333333333333333 + ], + "finite": true + }, + { + "transition_index": 22, + "loss": 4.386584350868361e-06, + "observation_loss": 3.8244520510488655e-06, + "chamfer": 3.2061320780485403e-06, + "track": 6.183200298437441e-07, + "acceleration": 5.621324135063333e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 114, + 115 + ], + "times_s": [ + 0.7333333333333333, + 0.7666666666666667 + ], + "finite": true + }, + { + "transition_index": 23, + "loss": 4.523181814874988e-06, + "observation_loss": 3.932246727345046e-06, + "chamfer": 3.28985447595187e-06, + "track": 6.423923082365945e-07, + "acceleration": 5.909349169996858e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 115, + 116 + ], + "times_s": [ + 0.7666666666666667, + 0.8 + ], + "finite": true + }, + { + "transition_index": 24, + "loss": 4.480227289604954e-06, + "observation_loss": 4.124377937841928e-06, + "chamfer": 3.4320612485316815e-06, + "track": 6.923165756234084e-07, + "acceleration": 3.5584920965447964e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 116, + 117 + ], + "times_s": [ + 0.8, + 0.8333333333333334 + ], + "finite": true + }, + { + "transition_index": 25, + "loss": 4.727269697468728e-06, + "observation_loss": 4.434474703884916e-06, + "chamfer": 3.667008968477603e-06, + "track": 7.674659059375699e-07, + "acceleration": 2.9279507884893974e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 117, + 118 + ], + "times_s": [ + 0.8333333333333334, + 0.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 26, + "loss": 5.150331162440125e-06, + "observation_loss": 4.753375833388418e-06, + "chamfer": 3.912299234798411e-06, + "track": 8.410763712163316e-07, + "acceleration": 3.9695535747341637e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 118, + 119 + ], + "times_s": [ + 0.8666666666666667, + 0.9 + ], + "finite": true + }, + { + "transition_index": 27, + "loss": 5.459255589812528e-06, + "observation_loss": 4.82616997032892e-06, + "chamfer": 3.970680154452566e-06, + "track": 8.554899295631913e-07, + "acceleration": 6.330855626401899e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 119, + 120 + ], + "times_s": [ + 0.9, + 0.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 28, + "loss": 5.365196557249874e-06, + "observation_loss": 4.765987796417903e-06, + "chamfer": 3.9166907299659215e-06, + "track": 8.492968390783062e-07, + "acceleration": 5.992085334582953e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 120, + 121 + ], + "times_s": [ + 0.9333333333333333, + 0.9666666666666667 + ], + "finite": true + }, + { + "transition_index": 29, + "loss": 5.0908174671349116e-06, + "observation_loss": 4.823086783289909e-06, + "chamfer": 3.96566019844613e-06, + "track": 8.574264711569413e-07, + "acceleration": 2.6773062700158334e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 121, + 122 + ], + "times_s": [ + 0.9666666666666667, + 1.0 + ], + "finite": true + }, + { + "transition_index": 30, + "loss": 5.253304607322207e-06, + "observation_loss": 5.1044398787780665e-06, + "chamfer": 4.19847538069007e-06, + "track": 9.059643844011589e-07, + "acceleration": 1.4886464327901194e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 122, + 123 + ], + "times_s": [ + 1.0, + 1.0333333333333334 + ], + "finite": true + }, + { + "transition_index": 31, + "loss": 5.574386250373209e-06, + "observation_loss": 5.47133731743088e-06, + "chamfer": 4.483837528823642e-06, + "track": 9.874999022940756e-07, + "acceleration": 1.0304890452061954e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 123, + 124 + ], + "times_s": [ + 1.0333333333333334, + 1.0666666666666667 + ], + "finite": true + }, + { + "transition_index": 32, + "loss": 5.9787525970023125e-06, + "observation_loss": 5.8994555729441345e-06, + "chamfer": 4.824677034775959e-06, + "track": 1.0747787655418506e-06, + "acceleration": 7.929693168762242e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 124, + 125 + ], + "times_s": [ + 1.0666666666666667, + 1.1 + ], + "finite": true + }, + { + "transition_index": 33, + "loss": 6.353830485750223e-06, + "observation_loss": 6.187939561641542e-06, + "chamfer": 5.043884357291972e-06, + "track": 1.1440550906627323e-06, + "acceleration": 1.6589095253038977e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 125, + 126 + ], + "times_s": [ + 1.1, + 1.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 34, + "loss": 6.3916809267539065e-06, + "observation_loss": 6.204722922120709e-06, + "chamfer": 5.064718607172836e-06, + "track": 1.140004087574198e-06, + "acceleration": 1.869579477897787e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 126, + 127 + ], + "times_s": [ + 1.1333333333333333, + 1.1666666666666667 + ], + "finite": true + }, + { + "transition_index": 35, + "loss": 6.315486189123476e-06, + "observation_loss": 6.139855031506158e-06, + "chamfer": 5.016516752220923e-06, + "track": 1.1233381655983976e-06, + "acceleration": 1.7563112919560808e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 127, + 128 + ], + "times_s": [ + 1.1666666666666667, + 1.2 + ], + "finite": true + }, + { + "transition_index": 36, + "loss": 6.268001925491262e-06, + "observation_loss": 6.185806796565885e-06, + "chamfer": 5.038852123107063e-06, + "track": 1.1469545597719843e-06, + "acceleration": 8.219532787734352e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 128, + 129 + ], + "times_s": [ + 1.2, + 1.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 37, + "loss": 6.6505485847301316e-06, + "observation_loss": 6.2648846324009355e-06, + "chamfer": 5.098570454720175e-06, + "track": 1.1663141776807606e-06, + "acceleration": 3.856638954857772e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 129, + 130 + ], + "times_s": [ + 1.2333333333333334, + 1.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 38, + "loss": 6.418003067665268e-06, + "observation_loss": 6.009196113154758e-06, + "chamfer": 4.908846221951535e-06, + "track": 1.1003500048900605e-06, + "acceleration": 4.0880692608880054e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 130, + 131 + ], + "times_s": [ + 1.2666666666666666, + 1.3 + ], + "finite": true + }, + { + "transition_index": 39, + "loss": 5.919021077716025e-06, + "observation_loss": 5.623247034236556e-06, + "chamfer": 4.604212335834745e-06, + "track": 1.0190346984018106e-06, + "acceleration": 2.9577401505775924e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 131, + 132 + ], + "times_s": [ + 1.3, + 1.3333333333333333 + ], + "finite": true + }, + { + "transition_index": 40, + "loss": 5.6949361351144034e-06, + "observation_loss": 5.388193585531553e-06, + "chamfer": 4.412005182530265e-06, + "track": 9.76188403001288e-07, + "acceleration": 3.0674252116114076e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 132, + 133 + ], + "times_s": [ + 1.3333333333333333, + 1.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 41, + "loss": 5.9133540162292775e-06, + "observation_loss": 5.550654350372497e-06, + "chamfer": 4.518759851634968e-06, + "track": 1.0318943850506912e-06, + "acceleration": 3.6269955216994276e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 133, + 134 + ], + "times_s": [ + 1.3666666666666667, + 1.4 + ], + "finite": true + }, + { + "transition_index": 42, + "loss": 6.0545053202076815e-06, + "observation_loss": 5.732098998123547e-06, + "chamfer": 4.6369791562028695e-06, + "track": 1.0951199556075153e-06, + "acceleration": 3.224065494578099e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 134, + 135 + ], + "times_s": [ + 1.4, + 1.4333333333333333 + ], + "finite": true + }, + { + "transition_index": 43, + "loss": 6.270437097555259e-06, + "observation_loss": 5.934078217251226e-06, + "chamfer": 4.785213604918681e-06, + "track": 1.1488643849588698e-06, + "acceleration": 3.3635890872574237e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 135, + 136 + ], + "times_s": [ + 1.4333333333333333, + 1.4666666666666666 + ], + "finite": true + }, + { + "transition_index": 44, + "loss": 6.611918706767028e-06, + "observation_loss": 6.032994406268699e-06, + "chamfer": 4.862976766162319e-06, + "track": 1.1700175264195423e-06, + "acceleration": 5.789243004983291e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 136, + 137 + ], + "times_s": [ + 1.4666666666666666, + 1.5 + ], + "finite": true + }, + { + "transition_index": 45, + "loss": 7.214406650746241e-06, + "observation_loss": 6.119235877122264e-06, + "chamfer": 4.9285340537608135e-06, + "track": 1.1907018233614508e-06, + "acceleration": 1.0951705462503014e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 137, + 138 + ], + "times_s": [ + 1.5, + 1.5333333333333334 + ], + "finite": true + }, + { + "transition_index": 46, + "loss": 7.1702506829751655e-06, + "observation_loss": 6.258805115066934e-06, + "chamfer": 5.034301921114093e-06, + "track": 1.2245029665791662e-06, + "acceleration": 9.1144562475165e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 138, + 139 + ], + "times_s": [ + 1.5333333333333334, + 1.5666666666666667 + ], + "finite": true + }, + { + "transition_index": 47, + "loss": 7.581313639093423e-06, + "observation_loss": 6.677570581814507e-06, + "chamfer": 5.353283995646052e-06, + "track": 1.3242866998552927e-06, + "acceleration": 9.037431141223351e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 139, + 140 + ], + "times_s": [ + 1.5666666666666667, + 1.6 + ], + "finite": true + }, + { + "transition_index": 48, + "loss": 8.275073923869058e-06, + "observation_loss": 7.201795597211458e-06, + "chamfer": 5.72918179386761e-06, + "track": 1.4726140307175228e-06, + "acceleration": 1.073278212970763e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 140, + 141 + ], + "times_s": [ + 1.6, + 1.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 49, + "loss": 8.600739420216996e-06, + "observation_loss": 7.5628240665537305e-06, + "chamfer": 5.994295861455612e-06, + "track": 1.5685279777244432e-06, + "acceleration": 1.0379151262895903e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 141, + 142 + ], + "times_s": [ + 1.6333333333333333, + 1.6666666666666667 + ], + "finite": true + }, + { + "transition_index": 50, + "loss": 8.465134669677354e-06, + "observation_loss": 7.447785264957929e-06, + "chamfer": 5.918039278185461e-06, + "track": 1.5297458730856306e-06, + "acceleration": 1.01734917734575e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 142, + 143 + ], + "times_s": [ + 1.6666666666666667, + 1.7 + ], + "finite": true + }, + { + "transition_index": 51, + "loss": 8.222519682021812e-06, + "observation_loss": 7.256988737935899e-06, + "chamfer": 5.785979283245979e-06, + "track": 1.47100945468992e-06, + "acceleration": 9.655304893385619e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 143, + 144 + ], + "times_s": [ + 1.7, + 1.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 52, + "loss": 7.709479177719913e-06, + "observation_loss": 7.097102752595674e-06, + "chamfer": 5.662575404130621e-06, + "track": 1.434527462151891e-06, + "acceleration": 6.123760272203072e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 144, + 145 + ], + "times_s": [ + 1.7333333333333334, + 1.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 53, + "loss": 7.134239695005817e-06, + "observation_loss": 6.954936452530092e-06, + "chamfer": 5.554721155931475e-06, + "track": 1.4002151829117793e-06, + "acceleration": 1.7930318563230685e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 145, + 146 + ], + "times_s": [ + 1.7666666666666666, + 1.8 + ], + "finite": true + }, + { + "transition_index": 54, + "loss": 7.1730428317096084e-06, + "observation_loss": 6.987067081354326e-06, + "chamfer": 5.575651812250726e-06, + "track": 1.4114152691035997e-06, + "acceleration": 1.8597573614442808e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 146, + 147 + ], + "times_s": [ + 1.8, + 1.8333333333333333 + ], + "finite": true + }, + { + "transition_index": 55, + "loss": 7.228785761981271e-06, + "observation_loss": 7.062906661303714e-06, + "chamfer": 5.622250228043413e-06, + "track": 1.4406566606339766e-06, + "acceleration": 1.6587912909926672e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 147, + 148 + ], + "times_s": [ + 1.8333333333333333, + 1.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 56, + "loss": 7.228702088468708e-06, + "observation_loss": 7.15629948899732e-06, + "chamfer": 5.688979399565142e-06, + "track": 1.4673202031190158e-06, + "acceleration": 7.24027486853629e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 148, + 149 + ], + "times_s": [ + 1.8666666666666667, + 1.9 + ], + "finite": true + }, + { + "transition_index": 57, + "loss": 7.439502496708883e-06, + "observation_loss": 7.248855581565294e-06, + "chamfer": 5.744925601902651e-06, + "track": 1.5039297522889683e-06, + "acceleration": 1.9064698619786213e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 149, + 150 + ], + "times_s": [ + 1.9, + 1.9333333333333333 + ], + "finite": true + }, + { + "transition_index": 58, + "loss": 7.947605809022207e-06, + "observation_loss": 7.3448304647172336e-06, + "chamfer": 5.817334113089601e-06, + "track": 1.527496351627633e-06, + "acceleration": 6.027756853654864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 150, + 151 + ], + "times_s": [ + 1.9333333333333333, + 1.9666666666666666 + ], + "finite": true + }, + { + "transition_index": 59, + "loss": 8.790437277639285e-06, + "observation_loss": 7.506635483878199e-06, + "chamfer": 5.927683560003061e-06, + "track": 1.5789521512488136e-06, + "acceleration": 1.2838015663874103e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 151, + 152 + ], + "times_s": [ + 1.9666666666666666, + 2.0 + ], + "finite": true + }, + { + "transition_index": 60, + "loss": 9.553637937642634e-06, + "observation_loss": 7.693817678955384e-06, + "chamfer": 6.070957169868052e-06, + "track": 1.6228608501478448e-06, + "acceleration": 1.8598199176267372e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 152, + 153 + ], + "times_s": [ + 2.0, + 2.033333333333333 + ], + "finite": true + }, + { + "transition_index": 61, + "loss": 9.02306601346936e-06, + "observation_loss": 7.89609293860849e-06, + "chamfer": 6.226195637282217e-06, + "track": 1.669897756073624e-06, + "acceleration": 1.1269729611740331e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 153, + 154 + ], + "times_s": [ + 2.033333333333333, + 2.066666666666667 + ], + "finite": true + }, + { + "transition_index": 62, + "loss": 8.745006198296323e-06, + "observation_loss": 8.274513675132766e-06, + "chamfer": 6.496054993476719e-06, + "track": 1.7784582269086968e-06, + "acceleration": 4.704928642240702e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 154, + 155 + ], + "times_s": [ + 2.066666666666667, + 2.1 + ], + "finite": true + }, + { + "transition_index": 63, + "loss": 9.120672984863631e-06, + "observation_loss": 8.812154192128219e-06, + "chamfer": 6.86372095515253e-06, + "track": 1.9484327822283376e-06, + "acceleration": 3.0851833798806183e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 155, + 156 + ], + "times_s": [ + 2.1, + 2.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 64, + "loss": 9.544293789076619e-06, + "observation_loss": 9.433651030121837e-06, + "chamfer": 7.286090749403229e-06, + "track": 2.1475605080922833e-06, + "acceleration": 1.1064235394542266e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 156, + 157 + ], + "times_s": [ + 2.1333333333333333, + 2.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 65, + "loss": 9.886723091767635e-06, + "observation_loss": 9.799277904676273e-06, + "chamfer": 7.535504664701875e-06, + "track": 2.263773694721749e-06, + "acceleration": 8.744527946191738e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 157, + 158 + ], + "times_s": [ + 2.1666666666666665, + 2.2 + ], + "finite": true + }, + { + "transition_index": 66, + "loss": 1.0334711078030523e-05, + "observation_loss": 1.0047893738374114e-05, + "chamfer": 7.706682481511962e-06, + "track": 2.341211029488477e-06, + "acceleration": 2.8681742492153717e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 158, + 159 + ], + "times_s": [ + 2.2, + 2.2333333333333334 + ], + "finite": true + }, + { + "transition_index": 67, + "loss": 1.0478718650119845e-05, + "observation_loss": 1.0295634638168849e-05, + "chamfer": 7.857710443204269e-06, + "track": 2.4379237402172294e-06, + "acceleration": 1.8308399774014106e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 159, + 160 + ], + "times_s": [ + 2.2333333333333334, + 2.2666666666666666 + ], + "finite": true + }, + { + "transition_index": 68, + "loss": 1.0512967492104508e-05, + "observation_loss": 1.0395975550636649e-05, + "chamfer": 7.916394679341465e-06, + "track": 2.479580871295184e-06, + "acceleration": 1.169922683175173e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 160, + 161 + ], + "times_s": [ + 2.2666666666666666, + 2.3 + ], + "finite": true + }, + { + "transition_index": 69, + "loss": 1.0593467777653132e-05, + "observation_loss": 1.022390915750293e-05, + "chamfer": 7.795450983394403e-06, + "track": 2.428458401482203e-06, + "acceleration": 3.69558620150201e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 161, + 162 + ], + "times_s": [ + 2.3, + 2.3333333333333335 + ], + "finite": true + }, + { + "transition_index": 70, + "loss": 1.0841587936738506e-05, + "observation_loss": 9.865956599242054e-06, + "chamfer": 7.569595709355781e-06, + "track": 2.2963606625125976e-06, + "acceleration": 9.756315648701275e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 162, + 163 + ], + "times_s": [ + 2.3333333333333335, + 2.3666666666666667 + ], + "finite": true + }, + { + "transition_index": 71, + "loss": 1.0280130481987726e-05, + "observation_loss": 9.65420804277528e-06, + "chamfer": 7.418515906465473e-06, + "track": 2.2356919089361327e-06, + "acceleration": 6.25922496055864e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 163, + 164 + ], + "times_s": [ + 2.3666666666666667, + 2.4 + ], + "finite": true + }, + { + "transition_index": 72, + "loss": 9.711620805319399e-06, + "observation_loss": 9.466960364079569e-06, + "chamfer": 7.285015726665733e-06, + "track": 2.1819444100401597e-06, + "acceleration": 2.4466078230034327e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 164, + 165 + ], + "times_s": [ + 2.4, + 2.433333333333333 + ], + "finite": true + }, + { + "transition_index": 73, + "loss": 9.43523264140822e-06, + "observation_loss": 9.193912774208002e-06, + "chamfer": 7.08290099282749e-06, + "track": 2.1110115540068364e-06, + "acceleration": 2.4131995246534643e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 165, + 166 + ], + "times_s": [ + 2.433333333333333, + 2.466666666666667 + ], + "finite": true + }, + { + "transition_index": 74, + "loss": 9.103077900363132e-06, + "observation_loss": 8.948903996497393e-06, + "chamfer": 6.906015642016428e-06, + "track": 2.042888809228316e-06, + "acceleration": 1.541735343835171e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 166, + 167 + ], + "times_s": [ + 2.466666666666667, + 2.5 + ], + "finite": true + }, + { + "transition_index": 75, + "loss": 9.438008419238031e-06, + "observation_loss": 9.084633347811177e-06, + "chamfer": 7.00310556567274e-06, + "track": 2.0815275547647616e-06, + "acceleration": 3.533746735229215e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 167, + 168 + ], + "times_s": [ + 2.5, + 2.533333333333333 + ], + "finite": true + }, + { + "transition_index": 76, + "loss": 1.3268183465697803e-05, + "observation_loss": 9.22415802051546e-06, + "chamfer": 7.057811217237031e-06, + "track": 2.166346575904754e-06, + "acceleration": 4.044025445182342e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 168, + 169 + ], + "times_s": [ + 2.533333333333333, + 2.566666666666667 + ], + "finite": true + }, + { + "transition_index": 77, + "loss": 1.3374754416872747e-05, + "observation_loss": 9.25083804759197e-06, + "chamfer": 7.093723070283886e-06, + "track": 2.1571149773080833e-06, + "acceleration": 4.123915914533427e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 169, + 170 + ], + "times_s": [ + 2.566666666666667, + 2.6 + ], + "finite": true + }, + { + "transition_index": 78, + "loss": 1.1136158718727529e-05, + "observation_loss": 9.203269655699842e-06, + "chamfer": 7.0456412686326075e-06, + "track": 2.157628841814585e-06, + "acceleration": 1.9328895177750383e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 170, + 171 + ], + "times_s": [ + 2.6, + 2.6333333333333333 + ], + "finite": true + }, + { + "transition_index": 79, + "loss": 1.0682435458875261e-05, + "observation_loss": 9.173200851364527e-06, + "chamfer": 7.006770829320885e-06, + "track": 2.1664300220436417e-06, + "acceleration": 1.509234721197572e-06, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 171, + 172 + ], + "times_s": [ + 2.6333333333333333, + 2.6666666666666665 + ], + "finite": true + }, + { + "transition_index": 80, + "loss": 9.889983630273491e-06, + "observation_loss": 9.263410902349278e-06, + "chamfer": 7.069724233588204e-06, + "track": 2.1936862140137237e-06, + "acceleration": 6.265723868636996e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 172, + 173 + ], + "times_s": [ + 2.6666666666666665, + 2.7 + ], + "finite": true + }, + { + "transition_index": 81, + "loss": 9.688006684882566e-06, + "observation_loss": 9.407014658791013e-06, + "chamfer": 7.1483696046925616e-06, + "track": 2.2586455088458024e-06, + "acceleration": 2.809917702961684e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 173, + 174 + ], + "times_s": [ + 2.7, + 2.7333333333333334 + ], + "finite": true + }, + { + "transition_index": 82, + "loss": 9.677865818957798e-06, + "observation_loss": 9.583238352206536e-06, + "chamfer": 7.262649887707084e-06, + "track": 2.3205882371257758e-06, + "acceleration": 9.462766570322856e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 174, + 175 + ], + "times_s": [ + 2.7333333333333334, + 2.7666666666666666 + ], + "finite": true + }, + { + "transition_index": 83, + "loss": 9.938319635693915e-06, + "observation_loss": 9.847093679127283e-06, + "chamfer": 7.446368272212567e-06, + "track": 2.4007258616620675e-06, + "acceleration": 9.122567234953749e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 175, + 176 + ], + "times_s": [ + 2.7666666666666666, + 2.8 + ], + "finite": true + }, + { + "transition_index": 84, + "loss": 1.0159342309634667e-05, + "observation_loss": 1.0046717761724722e-05, + "chamfer": 7.581787940580398e-06, + "track": 2.464929821144324e-06, + "acceleration": 1.1262412868973115e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 176, + 177 + ], + "times_s": [ + 2.8, + 2.8333333333333335 + ], + "finite": true + }, + { + "transition_index": 85, + "loss": 1.0228458450001199e-05, + "observation_loss": 1.0133516298083123e-05, + "chamfer": 7.630283107573632e-06, + "track": 2.503233417883166e-06, + "acceleration": 9.494223718320427e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 177, + 178 + ], + "times_s": [ + 2.8333333333333335, + 2.8666666666666667 + ], + "finite": true + }, + { + "transition_index": 86, + "loss": 1.0346993803977966e-05, + "observation_loss": 1.0198175004916266e-05, + "chamfer": 7.669807018828578e-06, + "track": 2.5283675313403364e-06, + "acceleration": 1.4881887011597428e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 178, + 179 + ], + "times_s": [ + 2.8666666666666667, + 2.9 + ], + "finite": true + }, + { + "transition_index": 87, + "loss": 1.0409300557512324e-05, + "observation_loss": 1.0271378414472565e-05, + "chamfer": 7.705731150053907e-06, + "track": 2.565646809671307e-06, + "acceleration": 1.379225693654007e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 179, + 180 + ], + "times_s": [ + 2.9, + 2.933333333333333 + ], + "finite": true + }, + { + "transition_index": 88, + "loss": 1.0351929631724488e-05, + "observation_loss": 1.0284778909408487e-05, + "chamfer": 7.70947735873051e-06, + "track": 2.5753020054253284e-06, + "acceleration": 6.715028177950444e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 180, + 181 + ], + "times_s": [ + 2.933333333333333, + 2.966666666666667 + ], + "finite": true + }, + { + "transition_index": 89, + "loss": 1.0469007065694313e-05, + "observation_loss": 1.0259522241540253e-05, + "chamfer": 7.69205598771805e-06, + "track": 2.5674667085695546e-06, + "acceleration": 2.0948523626884707e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 181, + 182 + ], + "times_s": [ + 2.966666666666667, + 3.0 + ], + "finite": true + }, + { + "transition_index": 90, + "loss": 1.0412980373075698e-05, + "observation_loss": 1.0300950634700712e-05, + "chamfer": 7.714263119851239e-06, + "track": 2.5866872874757973e-06, + "acceleration": 1.1202937599819052e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 182, + 183 + ], + "times_s": [ + 3.0, + 3.033333333333333 + ], + "finite": true + }, + { + "transition_index": 91, + "loss": 1.0476880561327562e-05, + "observation_loss": 1.03627598946332e-05, + "chamfer": 7.739669854345266e-06, + "track": 2.623089812914259e-06, + "acceleration": 1.141208869626098e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 183, + 184 + ], + "times_s": [ + 3.033333333333333, + 3.066666666666667 + ], + "finite": true + }, + { + "transition_index": 92, + "loss": 1.0500168173166458e-05, + "observation_loss": 1.0418380952614825e-05, + "chamfer": 7.7754939411534e-06, + "track": 2.64288678408775e-06, + "acceleration": 8.178744081988043e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 184, + 185 + ], + "times_s": [ + 3.066666666666667, + 3.1 + ], + "finite": true + }, + { + "transition_index": 93, + "loss": 1.056954079103889e-05, + "observation_loss": 1.0491870853002183e-05, + "chamfer": 7.817845471436158e-06, + "track": 2.674025836313376e-06, + "acceleration": 7.766979592815915e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 185, + 186 + ], + "times_s": [ + 3.1, + 3.1333333333333333 + ], + "finite": true + }, + { + "transition_index": 94, + "loss": 1.056819746736437e-05, + "observation_loss": 1.0451607522554696e-05, + "chamfer": 7.797171747370157e-06, + "track": 2.6544360025582137e-06, + "acceleration": 1.1658978849027335e-07, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 186, + 187 + ], + "times_s": [ + 3.1333333333333333, + 3.1666666666666665 + ], + "finite": true + }, + { + "transition_index": 95, + "loss": 1.040413280861685e-05, + "observation_loss": 1.0312797712686006e-05, + "chamfer": 7.708901648584288e-06, + "track": 2.603895836728043e-06, + "acceleration": 9.133503198199833e-08, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true + } + ], + "transition_count": 96, + "objective_mean": 8.130879853259406e-06, + "chamfer_mean": 5.492970323928148e-06, + "track_mean": 1.4759417220252165e-06, + "acceleration_mean": 1.1619677845834768e-06, + "observation_score": 6.968912060756338e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4308418830005394 + }, + "score_arrays_file": "pass_scores/pass_end_0376.npz", + "score_arrays_sha256": "1319f608cee42ff3a3126aba6898464a2801fa2fcddaa980b04872c93e8d10fe" +}